A COMPARATIVE STUDY ON TWO METHODS OF DECOUPLING A SIX-AXIS ACCELEROMETER WITHOUT AND WITH A GYROSCOPE

被引：1

作者：

Li, Chenggang ^{[1
]}

Zhang, Wenyan ^{[2
]}

Chen, Jing ^{[1
]}

You, Jingjing ^{[2
]}

机构：

[1] Nanjing Univ Aeronaut & Astronaut, Coll Mech & Elect Engn, 29 Yudao Str, Nanjing 210016, Peoples R China

[2] Nanjing Forestry Univ, Coll Mech & Elect Engn, 159 Longpan Rd, Nanjing 210037, Peoples R China

来源：

TRANSACTIONS OF FAMENA | 2021年 / 45卷 / 04期

基金：

中国国家自然科学基金;

关键词：

6-axis accelerometer; decoupling methods; gyroscope; decoupling accuracy; stability;

D O I：

10.21278/TOF.454003219

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Methods of decoupling a 6-axis accelerometer are attracting more and more attention because of their great significance for the accuracy, efficiency and stability of acceleration calculation. This paper introduces the basic decoupling methods without and with a gyroscope first. The decoupling accuracies of numerical accelerations are compared based on the definition of the comprehensive error, and the efficiencies are compared based on the computational time. In order to compare the stability of the two methods, the influence of step size is given, and the comprehensive errors are compared. Possible error sources that affect the stability of the decoupling methods are listed and divided into three categories, and the influence of every error source is analysed and presented. In the simulation, the gyroscope-based method is verified to achieve better accuracy, efficiency and stability than in the case of the method without a gyroscope. The experimental results agree well with the theoretical analysis.

引用

页码：71 / 83

页数：13

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