Construction of the Physical Characteristic Model for a Inertial Measurement Unit
In response to the issue of describing the physical characteristics of micro-electromechanical inertial meas-urement units,a mathematical model construction method of IMU is proposed.By establishing a finite element analysis model of the IMU and conducting multi-physics simulations,the response characteristics to acceleration and angular accel-eration excitation are obtained,and the transfer function models are established.A temperature response model is estab-lished through temperature experiments,and a temperature-dependent model of inertial cross-sensitivity is obtained through thermo-solid coupling simulations.The static sensitivity and dynamic response models of inertial components are established through calibration experiments and linear vibration/angular vibration experiments.The constructed mathematical model is tested,and the results show that it can reflect the internal physical state of the IMU and the inertial measurement errors,and can be used for error analysis and system simulation.
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