|Hassan M. Abdar|
The Modeling and Identification of an Inertial Measurement Unit (IMU)
Inertial navigation systems (INS) is an important navigation method, due to their high degree of reliability and accuracy. These systems are categorized into stable platform and strapdown navigation systems. In strapdown inertial navigation systems, there exists an inertial measurement unit (IMU) in which suitable gyroscopes and accelerometer accompanied with their peripheral circuits are harnessed. The output signals of the gyroscopes and accelerometers are digitized and transferred through V/F. In this thesis, one particular IMU, which is widely used in industry, is analyzed in detail. In this IMU two dynamically tuned (DT) gyroscopes, and three closed-loop pendulum-type accelerometers are used, which has been first introduced in the thesis. Then, the models of these IMU components have been elaborated. Moreover, the experimental identification of the IMU has been reported. In which first the designed identification experiments are introduced, and then the resulting second order identified models are proposed. Finally, the performance of the identified models is verified through simulation. It is shown that, despite the simple form of the models, they can predict the dynamic behavior of the system with the desired accuracy.
|2001||M.Sc.||Dynamical Systems Analysis and Control|