船载惯性测量单元姿态信息优化方法

随着海洋卫星通信技术的广泛应用，船载通信系统的需求量与日俱增。基于微电子系统的惯性测量单元主要用于测量船体姿态信息，实现姿态反馈与控制补偿，是船载卫星通信设备的核心器件。实际应用中通过卡尔曼滤波处理的惯性测量单元的姿态信息并不完善，经过分析惯性测量单元在运动过程中存在干扰性的有害加速度。分析了有害加速度的产生原因和对测量姿态的影响并提出姿态信息的优化方法。通过此优化方法可提升惯性测量单元的测量精度，增强船载通信系统的控制精度。

Attitude information optimization method for shipboard inertial measurement unit

With the wide application of marine satellite communication technology, the demand for shipboard communication systems is increasing day by day. The inertial measurement unit (IMU) based on micro electronic mechanical system (MEMS) is mainly used to measure the attitude information of the hull and realize attitude feedback and control compensation, and is the core device of the shipboard satellite communication equipment. In practice, the attitude information of the inertial measuring unit processed by Kalman filtering is not perfect, and the analyzed inertial measuring unit has harmful acceleration that is interfering during motion. In this paper, we analyzed the causes of harmful acceleration and the influence on the measured attitude, and proposed an optimization method for attitude information. This optimization method can improve the measurement accuracy of the inertial measurement unit and enhance the control accuracy of the shipboard communication system.