开源模拟云台安装IMU信号，助力航测导航系统测试
AGISim, An Open Source Airborne Gimbal Mounted IMU Signal Simulator Considering Flight Dynamics Model
- 基于飞行动力学模型，模拟云台式IMU信号
- 验证了动态杆臂下辅助惯导算法的正确性
- 适合航测、测绘等需要稳定传感器的应用
本文对所提出的机载云台安装惯性测量单元（IMU）信号模拟器进行了更全面的评估，该模拟器考虑了飞行动力学模型（FDM）。灵活的IMU信号模拟器是设计、开发、优化及验证辅助惯性导航系统（INS）的关键工具。以往研究多集中于刚性安装在载体上的捷联惯导（SINS）仿真，但航测/测绘应用中需将相机或其他传感器通过云台安装于机身上，此时IMU也需安装在云台上，因此本方案具有实际意义。通过单元测试和功能/集成测试（使用带可变/动态杆臂的辅助惯导算法），验证了模拟器的有效性与适用性。我们已将MATLAB代码打包并发布至GitHub，实现开源共享。
原文摘要 · Abstract (English)
In this work we present more comprehensive evaluations on our airborne Gimbal mounted inertial measurement unit (IMU) signal simulator which also considers flight dynamic model (FDM). A flexible IMU signal simulator is an enabling tool in design, development, improvement, test and verification of aided inertial navigation systems (INS). Efforts by other researchers had been concentrated on simulation of the strapdown INS (SINS) with the IMU rigidly attached to the moving body frame. However custom airborne surveying/mapping applications that need pointing and stabilizing camera or any other surveying sensor, require mounting the IMU beside the sensor on a Gimbal onboard the airframe. Hence the proposed Gimbal mounted IMU signal simulator is of interest whilst itself requires further analysis and verifications. Extended evaluation results in terms of both unit tests and functional/integration tests (using aided inertial navigation algorithms with variable/dynamic lever arms), verifies the simulator and its applicability for the mentioned tasks. We have further packaged and published our MATLAB code for the proposed simulator as an open source GitHub repository.
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