| 摘要 |
An inertial measurement unit (IMU) for a spinning aerial vehicle that spins about a spin axis having a substrate defining a plane, the substrate fixed to the vehicle with the plane essentially orthogonal to the spin axis so that the substrate spins about the spin axis as the vehicle does, at least one generally planar gyroscope coupled to the substrate, the gyroscope defining a gyro input axis that is essentially parallel to the plane and generating a gyro output signal, at least one generally planar accelerometer coupled to the substrate, the accelerometer defining an accelerometer input axis that is essentially parallel to the plane and generating an accelerometer output signal, and a system for demodulating the gyro output signal with a phase-sensitive demodulation referenced to the accelerometer output signal. Also featured is a method of providing guidance information for a spinning aerial vehicle that spins about a spin axis using the described system. |
