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应用科学学报 ›› 2006, Vol. 24 ›› Issue (6): 618-622.

• 论文 • 上一篇    下一篇

MEMS-INS微型飞行器姿态确定系统的实现研究

李荣冰, 刘建业, 段方, 牛新元   

  1. 南京航空航天大学导航研究中心, 江苏南京 210016
  • 收稿日期:2005-12-08 修回日期:2006-05-22 出版日期:2006-11-30 发布日期:2006-11-30
  • 作者简介:李荣冰,博士生,研究方向:微型惯性组合导航系数、微型飞行器导航技术,E-mail:lrbing@nuaa.edu.cn;刘建业,教授,博导,研究方向:惯性技术、卫星定位、组合导航系统,E-mail:Ljyac@nuaa.edu.cn
  • 基金资助:
    航空科学基金(04D52030);国防科技预研基金(514090301)资助项目

Attitude Determination of Miniature Air Vehicle Based on MEMS-INS

LI Rong-bing, LIU Jian-ye, DUAN Fang, NIU Xin-yuan   

  1. Navigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
  • Received:2005-12-08 Revised:2006-05-22 Online:2006-11-30 Published:2006-11-30

PDF

132

被引次数

23

摘要： 研究了微型飞行器姿态确定系统的样机实现.在对MEMS惯性器件性能分析和零偏温度建模的基础上,提出微型飞行器九位置非正交及安装误差标定方法,利用相关理论分析MEMS惯性传感器的噪声特性,建立适合工程应用的姿态组合算法,进行了转台测试和试飞试验.误差补偿后,陀螺和加速度计零偏稳定性分别达到0.036°/s2和0.01 m/s2,俯仰和横滚的误差均方差分别达到0.33°和0.28°.试验结果表明:器件和系统级的误差补偿起到了综合补偿的效果,姿态误差减小了约50%,基于MEMS-INS的姿态确定系统可满足微型飞行器自主姿态稳定的需求.

关键词: 微型飞行器, 姿态确定, 误差补偿, 微型惯性导航系统

Abstract: A prototype of attitude determination for miniature air vehicles (MAV) is constructed.The performance of MEMS inertial sensors and the bias models with respect to temperature are analyzed.A nine-position calibration method for non-orthogonal and alignment error is present.The noise of MEMS inertial sensors is analyzed using correlation theory.Based on micro inertial navigation system and the noise characteristic of MEMS inertial sensors, attitude integrated algorithm adapt to real application in MAV is constructed.The performance of horizontal attitude is tested on rotating floor.Bias stability of gyro and accelerometer is 0.036 (°) s and 0.01 m/s2, and the RMS errors of roll and pitch are 0.33ånd 0.28°respectively.Test results indicate that error compensation on sensors and system has an integrated effect with attitude error reduced by 50%.MEMS-INS-based attitude determination can meet the need of autonomous attitude stabilization of MAV.

Key words: miniature air vehicle (MAV), error compensation, MEMS-based inertial navigation system, attitude determination

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