标题： AGISim，一种考虑飞行动力学模型的开源机载云台安装IMU信号模拟器 显示英文标题

标题： AGISim, An Open Source Airborne Gimbal Mounted IMU Signal Simulator Considering Flight Dynamics Model

摘要： 在这项工作中，我们提出了对我们机载云台安装的惯性测量单元（IMU）信号模拟器的更全面评估，该评估还考虑了飞行动力学模型（FDM）。 一个灵活的IMU信号模拟器是在辅助惯性导航系统（INS）的设计、开发、改进、测试和验证中不可或缺的工具。 其他研究人员的努力主要集中于刚性连接到运动体框架上的捷联式惯性导航系统（SINS）的仿真。 然而，需要指向和稳定摄像机或其他任何测绘传感器的自定义机载测绘/制图应用，需要将IMU与传感器一起安装在机身上的云台中。 因此，所提出的云台安装的IMU信号模拟器具有重要意义，但本身仍需进一步分析和验证。 扩展的评估结果（包括单元测试以及使用可变/动态支臂的辅助惯性导航算法的功能/集成测试）验证了该模拟器及其在上述任务中的适用性。 我们还打包并以开源GitHub存储库的形式发布了我们用于该模拟器的MATLAB代码。 显示英文摘要

摘要： 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.