The Research of Design and Application for Six-Accelerometer INS
博士 === 國防大學中正理工學院 === 國防科學研究所 === 94 === The six-accelerometer INS without gyroscope can replace the traditional INS to measure a vehicle’s velocity and position. Because of system error, the sensor’s bias, scale factor and misalignment, the navigation error of six-accelerometer INS is deeply affect...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2006
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| Online Access: | http://ndltd.ncl.edu.tw/handle/12107057162893053105 |
| Summary: | 博士 === 國防大學中正理工學院 === 國防科學研究所 === 94 === The six-accelerometer INS without gyroscope can replace the traditional INS to measure a vehicle’s velocity and position. Because of system error, the sensor’s bias, scale factor and misalignment, the navigation error of six-accelerometer INS is deeply affected by the time influence. There are two methods to enhance the precision of navigation in this paper. One is to determine the system error parameters using proposed calibration method and then compensating the system errors. Another is to integrate the INS and GPS, thus the navigation error will be bound in a small range. In this manuscript a strap-down six-accelerometer INS is studied to enhance the navigation precision. There are five important issues for research. The first is to modify the original Chen’s strap-down six-accelerometer dynamic equation to six-accelerometer navigation equation which considers the effects of attitude and gravity. The second is to design and manufactures a six-accelerometer INS according to six-accelerometer model. The third is to develop a novel calibration method for six-accelerometer INS. The novel calibration method can determine misalignments, biases and scale factors of six accelerometers. The fourth is to design a six-accelerometer INS compensator which can compensate the system error. The fifth is to integrate six-accelerometer INS and GPS and estimate the exercise states of a vehicle. After hardware realization and simulation the superior results are found that the proposed calibration and the integrated six-accelerometer INS/GPS can enhance the accuracy of navigation. It can apply in auto-pilot and UAV design for the future application.
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