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�������պ����ѧѧ�� 2005, Vol. 31 Issue (01) :45-50    DOI:
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Attitude algorithm for strap-down inertial navigation system
Liu Wei, Xie Xuhui, Li Shengyi*
National University of Defense Technology, Changsha 410073, China

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Abstract�� Under the condition of high dynamic angular motion or vibration environment, determining and compensating the non-commutivity vector is important tocalculate the attitude matrix of strap-down inertial navigation system. To compensate the coning error introduced by the non-commutivity vector, many custom algorithms were analyzed. Because there are so many algorithms, that the choice is hard for engineering application. Based on the inductive analysis for the principle and mathematical form of custom algorithms, a normalized algorithm was introduced to overcome it. And then, a new method was introduced. By treating the product of sampling time and angular frequency as the parameter ��λ��, the method use the power of λ to express the error ,and can use it to estimate the accuracy of compensate algorithms. Based on this new method, by analyzing the error performances of new algorithms, some conclusions about the relationship of parameter and the accuracy of compensate algorithms were gained. And then, a standard was provided for the parameter selection. The standard can make the choice for engineering application.����
Keywords�� strapdown intertial navigation   attitude algorithm   coning algorithm     
Received 2003-07-25;


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��Σ, �����, ��ʥ��.�������Ե���ϵͳ����̬�㷨[J]  �������պ����ѧѧ��, 2005,V31(01): 45-50
Liu Wei, Xie Xuhui, Li Shengyi.Attitude algorithm for strap-down inertial navigation system[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2005,V31(01): 45-50
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