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1、APN-064RevAIMUErrorsandTheirEffectsIntroductionAnInertialNavigationSystem(INS)usestheoutputfromanInertialMeasurementUnit(IMU),andcombinestheinformationonaccelerationandrotationwithinitialinformationaboutposition,velocityandattitude.Itthendeliversanavigation
2、solutionwitheverynewmeasurement(mechanization).IMU:InertialMeasurementUnitINS:InertialNavigationSystemMechanization:Summationofaccelerationandattituderateovertimetoproduceposition,velocityandattitude.IMUComponentsAnIMUistypicallycomposedofthefollowingcompon
3、ents:•Threeaccelerometers•Threegyroscopes•Digitalsignalprocessinghardware/software•Powerconditioning•Communicationhardware/software•AnenclosureThreeaccelerometersaremountedatrightanglestoeachother,sothataccelerationcanbemeasuredindependentlyinthreeaxes:X,Ya
4、ndZ.Threegyroscopesarealsoatrightanglestoeachother,sotheangularratecanbemeasuredaroundeachoftheaccelerationaxes.Figure1:IMUAxesSignalsfromtheaccelerometersandgyroscopesareprocessedthroughsignalprocessingataveryhighrate.Themeasurementsarethensummed,givingato
5、talaccelerationandrotationfortheIMUsampleperiod.Forexample,ina200HzIMU,thesampleperiodrepresentsthetotalmotionoftheIMUover5milliseconds.Page
6、1February21,2014TheinformationaboutthemotionoftheIMUistransmittedtotheINS.ThesemeasurementsareusedasinputintotheINSf
7、ilter.TheendresultofcombiningtheIMUinformationwithGNSSinformationisposition,velocityandattitude.IMUmeasurementsareintegratedwithrespecttotime,aspartoftheINSfilter,soanyerrorsinthemeasurementsgrowovertime.Toreducetheeffectofthemeasurementerrors,theymustbeund
8、erstood,estimatedandthencorrected.TheEffectofIMUErrorsAGNSS+INSsolutioncombinesthemeasurementsfromanIMUwithsatellitepositioninginformationforacombinedsolution.Thecombinedsolutionbenefitsfromthestrengthsofeachapproachtothepositionproblem.TheinherenterrorinIM
9、Umeasurements,ifnotcorrectlydealtwithorestimatedaspartofanintegratedGNSS+INS,cancausesignificantproblemsinthesolution.Abiaserror,ifnotremovedfromthemeasurement,isintegratedtwiceaspartofthemechanization
