北京航空航天大学学报 ›› 2008, Vol. 34 ›› Issue (8): 920-924.

• 论文 • 上一篇    下一篇

角速率输入下圆锥补偿算法的一般形式

杨胜,房建成   

  1. 北京航空航天大学 仪器科学与光电工程学院, 北京 100191
  • 收稿日期:2007-07-30 出版日期:2008-08-31 发布日期:2010-09-17
  • 作者简介:杨 胜(1982-),男,山东聊城人,博士生,buaa_ys@tom.com.
  • 基金资助:

    国家863计划资助项目(2006AA12A108, 2006AA06Z223)

General formulas of coning compensation algorithm with angular rate input

Yang Sheng, Fang Jiancheng   

  1. School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2007-07-30 Online:2008-08-31 Published:2010-09-17

摘要: 传统圆锥补偿算法直接应用于由速率陀螺组成的捷联惯导系统时,算法误差明显增大.为抑制算法误差,提出了一种以角速率为输入信号,任意子样数圆锥补偿算法(包括改进算法)的一般形式,并在典型圆锥运动条件下以算法漂移误差最小为优化准则,推导了相应的圆锥补偿系数方程和算法误差表达式.利用给出的公式,求解一个线性方程组即可得到圆锥补偿系数,可方便快捷的设计任意子样数的角速率圆锥补偿算法以及改进算法.仿真结果表明,所设计的改进算法比同子样数常规角速率圆锥补偿算法在精度上有明显提高.

Abstract: When the traditional coning compensation algorithm applied in the strapdown inertial navigation system (SINS), which comprises of angular rate gyroscopes, the algorithm error increased dramatically. The general formulas of coning compensation algorithm, taking arbitrary samples of angular rate signal as input, were presented. Together with an improved algorithm, which utilizes angular rate signal and gyro increments from previous and current attitude update periods simultaneously. Then the algorithms were optimized by minimizing algorithm drift error under classical coning motion, and the coning compensation coefficient equations and algorithm error expressions were deduced respectively. The coning compensation algorithms, with arbitrary samples of angular rate signal as input, can be easily obtained from the deduced formulas. And the corresponding coefficients can be computed from the linear equations. Simulation result shows that the improved angular rate coning compensation algorithm was greatly improved in accuracy than regular algorithm with the same number of gyro angular rate samples.

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