期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
期号：4
页码：136
DOI：10.5772/52758
语种：English
出版社：SAGE Publications
摘要：Noncommutativity error of a strapdown inertial navigation system (SINS) in an unmanned aerial vehicle's (UAV) vibration environment is analysed. The traditional analysis of noncommutativity errors is based on a coning motion model, which is inconsistent with a UAV's vibration environment. In this paper the UAV's vibration form is discussed and is modelled as a sinusoidal angular vibration and a random angular vibration. Then, SINS motion models under these two forms of vibration are built up and the formulas for the noncommutativity errors are derived separately. In addition, the effect of a multi-sample algorithm is explored, which is an effective method for compensating for noncommutativity errors in cases of coning motion. Finally, the UAV's vibration environment is simulated and it is indicated that the simulation results of the SINS's noncommutativity errors are consistent with theoretical analysis.
关键词：UAV vibration; Srapdown Inertial Navigation System (SINS); Noncommutativity error; random vibration
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