北京航空航天大学学报 ›› 2001, Vol. 27 ›› Issue (3): 264-267.

• 论文 • 上一篇    下一篇

捷联惯导系统圆锥补偿算法研究

王养柱, 崔中兴   

  1. 北京航空航天大学 自动控制系
  • 收稿日期:2000-01-03 出版日期:2001-03-31 发布日期:2010-09-27
  • 作者简介:王养柱(1974-),男,陕西户县人,博士生,100083,北京.

Research on Coning Compensation Algorithms for SINS

WANG Yang-zhu, CUI Zhong-xing   

  1. Beijing University of Aeronautics and Astronautics, Dept. of Automatic Control
  • Received:2000-01-03 Online:2001-03-31 Published:2010-09-27

摘要: 为了提高高动态环境下捷联惯性导航系统的精度,消除圆锥效应带来的误差,对圆锥补偿算法的设计和圆锥补偿误差特性进行了研究.首先给出了旋转矢量方程和经典圆锥运动的角速度模型,进而推导出了经典圆锥运动的角增量公式、角增量叉乘公式,建立了圆锥补偿系数方程,给出了基于该方法的21种圆锥补偿算法.并对圆锥补偿误差特性进行了仿真研究,最后给出了计算机仿真结果.

Abstract: High speed and accuracy coning compensation algorithm plays an important role in strapdown inertial navigation system(SINS) in high dynamic environment. To reduce the effect of coning error, a deep research on design of coning compensation algorithm and character of coning compensation error is made. The angular rate vector of pure coning motion is given at first, then the incremental attitude vector, the cross product of two incremental attitude vector and the equation of coefficients are derived. Twenty-one types of coning compensation algorithm are obtained by this means. The computer simulation is taken to give the character of coning compensation algorithm and the result is shown in the end.

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