SDRE Filter for Improving the Performance of a Gyroscope-Free IMU

Abstract

An inertial navigation system with high anti-g capability, low power consumption, small volume and low cost is needed on certain specific tactical occasions. The gyroscope-free inertial measurement unit (GF-IMU) uses the linear accelerometers at different positions in space to calculate the angular velocity and estimate the navigation parameters. With the development of the MEMS sensors and Digital Signal Processors (DSP), a low-cost medium-precision tactical inertial measurement system can be developed. A SDRE-based filter algorithm is presented for dealing with the measurement error diverges of the linear accelerometers. A preliminary overall scheme is described, and the configuration profile of the sensors and the system equations are derived and analyzed.