IMU structure

In general, an IMU includes three single-axis accelerometers and three single-axis gyros. The accelerometer detects an acceleration signal of an independent three-axis of the object in the carrier coordinate system, and the gyro detects the angular velocity signal of the carrier relative to the navigation coordinate system. The angular velocity and acceleration of the object in three-dimensional space are measured, and the posture of the object is calculated. It has important application value in navigation. In order to improve reliability, it is also considered that each shaft is equipped with more sensors. In general, the IMU requires the device to be on the center of gravity of the object being measured.

The IMU inertial measurement device is attributed to the strapdown inertial navigation system, which consists of two acceleration sensors and an angular rate sensor (gyro) in three directions. Taking the local level northward system as an example, the inertial channel always maintains the horizontal coordinate system, and the three mutually orthogonal accelerometers on the channel measure the acceleration weight along the east, west, north, and vertical directions, and input it into the computer. After eliminating the accelerometer error, the gravitational acceleration and the Coriolis acceleration caused by the Earth’s rotation, the displacement acceleration weight of the carrier relative to the horizontal coordinate system is obtained, and then t (from the starting point to the time to be measured) By integrating the two times and considering the initial velocity value, the coordinate change amount relative to the previous starting point can be solved, and the longitude λ0, the latitude 0 and the elevation h0 of the corresponding starting point are accumulated, and the coordinates of the to-be-determined point are obtained.

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