Abstract
As a new type of micro-electro-mechanical systems (MEMS) inertial sensor, the Quartz Vibrating Beam Accelerometer (QVBA) is widely used in intelligent sweeping robots, small aircraft, navigation systems, etc. For these applications, correcting and compensating the attitude angle with the result of acceleration plays an important role to improve the measurement accuracy. The synchronization error between the measurement of the accelerometer and gyroscope attitude angle has an adverse impact on the accuracy of the attitude angle. In this paper, a synchronous acquisition scheme of the accelerometer and gyroscope attitude angle in a strapdown inertial navigation system (SINS) is proposed. At the same time, to improve the sampling accuracy and the conversion speed of QVBA, an improved equal-precision frequency measuring method is also implemented in this paper. The hardware float point unit (FPU) is used to accelerate the calculation of the frequency measurement value. The long-term cumulative error of the frequency measurement value is less than . The calculation process time from sampling to attitude angle compensation calculation is reduced by 40.8%. This work has played a very good role in improving the measurement accuracy and speed of the SINS.
Highlights
With the development of micro-electro-mechanical systems (MEMSs) technology, the QuartzVibrating Beam Accelerometers (QVBAs), a new type of MEMS inertial sensor with full digital pulse output, are drawing increasing attention in small aircraft, robots, navigation systems, augmented reality systems, and so on due to the advantages of high accuracy, small size, and low cost [1].In the strapdown inertial navigation system (SINS), Quartz Vibrating Beam Accelerometer (QVBA) are mainly used to measure the linear acceleration of the body
In the strapdown inertial navigation system (SINS), QVBAs are mainly used to measure the linear acceleration of the body
The results show that the long-term cumulative error of the frequency measurement value is less than 10−4, and the calculation process time from the sampling to the attitude angle compensation calculation is reduced by 40.8% in this system
Summary
Huanhuan Tian 1 , Yixiao Liu 1 , Jiqin Zhou 1 , Ying Wang 2 , Jing Wang 2,3 and Weigong Zhang 2,4, *. State Key Laboratory of Computer Architecture, Institute of Computing Technology, Chinese Academy of Sciences, Beijing 100048, China. Beijing Engineering Research Center of High Reliable Embedded System, Capital Normal University, Beijing 100048, China. Received: 24 November 2018; Accepted: 21 January 2019; Published: 24 January 2019
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