| 陈楸，王晓丽，马松辉 |
西北工业大学 无人机特种技术国家重点实验室，陕西 西安 710065 |
 摘要：准确的惯性测量单元（IMU）模型对飞行仿真至关重要，模型的准确性直接影响仿真试验的可靠性。为了在飞行仿真试验中能够提供有效的角速度和线加速度数据，需要建立准确的惯性测量单元仿真模型。在推导陀螺和加速度计数学模型的基础上，提出了建立陀螺及加速度计的仿真模型方法。为提高模型准确性，考虑了IMU误差影响。通过模拟AD公司的MEMS器件测量转台角速度和线加速度的过程，结果表明IMU模型数据结果良好，很好地模拟了实际的IMU工作过程。 |
| 关键词：惯性测量单元模型；惯性测量单元误差；微机电系统 |
| 中图分类号：U666.1文献标识码：B文章编号：1000-8829(2011)03-0117-03 |
| Building the Model of IMU in Flight Simulation |
| CHEN Qiu, WANG Xiaoli, MA Songhui |
| National Key Laboratory of Science and Technology on UAV,Northwestern Polytechnical University,Xi’an 710065,China |
| Abstract：The accurate inertial measurement unit (IMU) model which affects the accuracy of simulation reliability directly is very important to the flight simulation.In order to provide angle speed and line acceleration data in the flight simulation, accurate IMU model need to be established.Based on the study of their mathematical form model, the method of design gyroscopes and accelerometers model in simulink is proposed. In order to improve the model accuracy, the IMU error is considered.By simulating the process of AD Corporation’s MEMS measureing the carrier’s angular speed and the linear acceleration, the results of experiments show that the IMU model can simulate actual IMU work process. |
| Key words：IMU model；IMU error；MEMS |
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