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Study on Installation Errors of Accelerometer in GFSINS

Huabing Zhu

Open publisher page 1 citations

Abstract

The motion of a rigid body includes linear and angular motions,the latter is usually measured by gyroscopes.The researched result shows that it is possible to determine the angular motion of a rigid body using only accelerometers instead of gyroscopes.The key to the solution of this problem is choosing the location and the orientation,namely,the configuration of these accelerometers.The feasibility of gyroscope free strap-down inertial navigation system(GFSINS) based on accelerometers was analyzed and deduced.Considering Chen's configuration of 6 accelerometers and a kind of configuration of 12 accelerometers,the expressions and the test calibration method of installation error were presented,and the installation error was compensated.It can be used in medium precision and lower cost inertial technology.

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What this paper is about

The motion of a rigid body includes linear and angular motions,the latter is usually measured by gyroscopes.The researched result shows that it is possible to determine the angular motion of a rigid body using only accelerometers instead of gyroscopes.The key to the solution of this problem is choosing the location and the orientation,namely,the configuration of these accelerometers.The feasibility of gyroscope free strap-down inertial navigation system(GFSINS) based on accelerometers was analyzed and deduced.Considering Chen's configuration of 6 accelerometers and a kind of configuration of 12 accelerometers,the expressions and the test calibration method of installation error were presented,and the installation error was compensated.It can be used in medium precision and lower cost inertial technology.

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Available abstract

The motion of a rigid body includes linear and angular motions,the latter is usually measured by gyroscopes.The researched result shows that it is possible to determine the angular motion of a rigid body using only accelerometers instead of gyroscopes.The key to the solution of this problem is choosing the location and the orientation,namely,the configuration of these accelerometers.The feasibility of gyroscope free strap-down inertial navigation system(GFSINS) based on accelerometers was analyzed and deduced.Considering Chen's configuration of 6 accelerometers and a kind of configuration of 12 accelerometers,the expressions and the test calibration method of installation error were presented,and the installation error was compensated.It can be used in medium precision and lower cost inertial technology.

Key concepts: Accelerometer, Gyroscope, Inertial measurement unit, Inertial navigation system, Orientation (vector space), Calibration, Inertial frame of reference, Rigid body

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