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2010, vol. 60, br. 3-4, str. 27-33
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Dve metode identifikacije parametara inercijalnih senzora
Two methods for the determination of inertial sensor parameters
Vojnotehnički institut - VTI, Beograd
Sažetak
Inercijalni senzori, žiroskopi i akcelerometri imaju široku primenu Inercijalni navigacioni sistemi (INS) se najčešće sastoje od inercijalnog mernog uređaja (IMU) sa tri međusobno upravna žiroskopa i akcelerometra koji predtavljaju tri ulazne ose sistema i navigacionog algoritma. Navigacioni algoritam koristi kao ulazne veličine signale žiroskopa i akcelerometara. Vema važno je poznavanje izvora grešaka u navigacionom algoritmu. Jedan od izvora je nestabilnost razdešenosti senzora. Nestabilnost razdešenosti je parametar koji definiše klasu senzora. Klasa žiroskopa je definisana u °/h ili °/s,a klasa akcelerometara je definisana u mg ili μg. Drugi parametri koji definišu slučajno odstupanje senzora su slučajno odstupanje ugla žiroskopa i slučajno odstupanje brzine akcelerometra. Iako proizvođači deklarišu navedene parametre u svojim katalozima, veoma je važno da se pre primene senzora potvrde svi parametri senzora. Prikazane su dve metode određivanja slučajnog odstupanja ugla, slučajnog odstupanja brzine i nestabilnosti razdešenosti žiroskopa i akcelerometra i prodiskutovana koja od metoda je tačnija. Ove dve metode su bazirane na Alanovoj disperziji i spektru gustine snage(SGS). Analiza je rađena na šestokomponentnom mernom senzoru Analog Devices ADIS 16365.
Abstract
Inertial sensors, gyroscopes and accelerometers are widely applied. Inertial navigation systems (INS) usually consist of the inertial measuring unit (IMU) with three mutually perpendicular gyroscopes and accelerometers that represent three input axes to the system and navigation algorithm. Input values for the navigation algorithm are signals of gyroscopes and accelerometers. It is very important to know sources of navigation algorithm errors. One of the sources is a bias instability. A bias instability is a parameter that defines a class of sensors. The class of gyroscopes is defined in deg/h or deg/s and the class of accelerometers is defined in mg or μg. Other parameters defining a random walk of sensors are the angle random walk of gyroscopes and the velocity random walk of accelerometers. Although manufacturers declare these parameters in their data sheets, it is very important to confirm all declared sensor parameters before application. Two methods of angle random walk, velocity random walk and bias instability are presented and discussed with reference to their precision. These two methods are based on the Allan variance and power spectral density (PSD). The analysis was performed on the Analog Devices ADIS 16365 six degree of freedom sensor.
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Reference
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