A Method of Relative Deformation Measurement Based on Inertial Measurement Unit

摘要

#$%^&*AU2020101544A420200903.pdf#####ABSTRACT The invention relates to a relative deformation measurement method. Specifically, it is a relative deformation measurement method based on inertial measurement unit. In order to ensure the normal operation of various equipment on board, it is necessary to provide attitude information, position information and motion parameters with certain precision. These parameters can be measured and provided by the central posture system installed on board the ship. If the ship is absolutely rigid, the central posture system and each user section can construct a physical coordinate baseline. In this way, the user equipment can use the various parameters of the central attitude system and guarantee certain precision.-1/3After the preheating of the inertial measurement unit, the three-way data of the fiber optic gyro and the accelerometer were collected synchronously and real-time by the computer The initial alignment of the two inertial measurement units is completed and the initial course pitch and roll information of the two positions is obtained respectively The gyro output angular velocity c," , 4 of the principal and subinertial coordinate system relative to the inertial space coordinate system is established, and the projection of angular velocity on the Oxyz axis in the respective coordinate system is given The relationship between the output difference of the gyroscope and the angular rate of the s system relative to the mn system is obtained by converting the gyro output of the master inertial navigation to the subinertial navigation coordinate system The euler differential equation of deformation angular rate and output difference of gyro is established According to The Longco Kutta method, the euler Angle differential equation and the output difference of the gyro module is worth to give an accurate discretization of the deformation angle rate, and the recurrence formula of deformation angle #, #, #, (the deformation Angle at time n) is obtained, which is combined with C' to form an iteration Figure 1