High accuracy coning compensate algorithm by angular velocity
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摘要: 以角速率信号作为算法输入时,采用以往常用的圆锥补偿算法,算法误差明显增大.鉴于光纤陀螺角速率信号可以直接获取,提出了一种以角速率信号作为圆锥补偿算法输入的新补偿算法.在姿态更新周期内,以光纤陀螺角速率信号作为输入,求得陀螺角速率输出的表达式,结合旋转矢量微分方程,推导出新圆锥补偿算法表达式,然后以算法漂移误差最小对新算法进行优化.采用规则进动、典型的圆锥运动以及有噪声干扰的圆锥运动作为测试输入,通过与传统算法的对比,新算法计算量低、计算简单方便,算法精度高.新算法的提出为高动态环境下光纤陀螺捷联系统的姿态误差补偿提供了一个新的思路.Abstract: Traditional coning compensation algorithm error greatly increased while angular velocity signal was algorithm input. Considering the direct angular velocity signal output from fibre optic gyroscope (FOG), a novel coning compensation algorithm was introduced and it need input angular velocity signal. In the attitude updating period, the expression of the angular velocity output from FOG was educed by the output signal from FOG. Combining the rotation vector differential equation, the new algorithm expression was deduced. The new algorithm was optimized by the least arithmetic excursion error. These motions, regular forward and rotation motion, coning motion and the coning motion with noise, were test input. Compared with custom algorithms, the new algorithm performance is better in computing time and computing accuracy. Also the new algorithm expression conveniences attitude error compensation. The introduction of the new algorithm is a new idea to calculate attitude error compensation of FOG strapdown inertial navigation (SINS) under the condition of high dynamic angular motion.
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Key words:
- algorithms /
- coning error /
- error correction /
- rotation vector /
- strapdown inertial navigation system
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