Static and dynamic decoupling method of NGIMU

Non-gyro micro inertial measurement unit (NGIMU) uses only accelerometers replacing gyroscopes to compute the motion of a moving body. When a NGIMU system is working, an inevitable static coupling error and dynamic coupling error occur. Based on a nine-accelerometer configuration of NGIMU and the definition of the coupling error, a static and dynamic decoupling method is applied to NGIMU. The method overcomes the complexity which is aroused by using the static decoupling method and dynamic coupling method respectively, and simplifies the following processing system. Finally, a simulation case for estimating the error of the angular rate in three axes is investigated. The simulation results show that after the static and dynamic decoupling, the navigation precision is improved effectively.