High accuracy coning compensate algorithm by angular velocity
-
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.
-
Key words:
- algorithms /
- coning error /
- error correction /
- rotation vector /
- strapdown inertial navigation system
-
[1] Miller R B.A new strap-down attitude algorithm[J].Journal of Guidance Control and Dynamics,1983,6(4):287~291 [2] Jiang Y F,Lin Y P.Improved strap-down coning algorithms[J].IEEE Transaction on Arospace and Electronic System,1992,28(2):484~490 [3] 刘 危,解旭辉,李圣怡.捷联惯导系统的圆锥误差补偿算法研究[J].南京航空航天大学学报,2004,36(3):348~352 Liu Wei,Xie Xuhui,Li Shengyi.Coning algorithm for strapdown inertial navigation system[J].Journal of Nanjing University of Aeronautics & Astronautics, 2004,36(3):348~352(in Chinese) [4] 缪玲娟,林 丽.减小动态误差的捷联系统姿态算法研究[J].兵工学报,2000,21(3):229~232 Miao Lingjuan,Lin Li.Research on strapdown attitude algorithm for decreasing dynamic error[J].Journal of Binggong,2000,21(3):229~232(in Chinese) [5] 黄 昊.光纤陀螺捷联姿态算法及应用研究. 哈尔滨:哈尔滨工业大学控制工程系,2001 Huang Hao.Research on the fiber optic gyroscope strapdown attitude algorithm and application. Harbin:Department of Control Enginerring, Harbin Institute of Technology, 2001(in Chinese) [6] 黄 昊,邓正隆.旋转矢量航姿算法的一种新的表达式[J].宇航学报,2001,22(3):92~98 Huang Hao, Deng Zhenglong.A new expression of rotation vector for navigation attitude algorithm[J].Journal of space navigation, 2001,22(3):92~98(in Chinese) [7] 杨艳娟.捷联惯导系统关键技术研究. 哈尔滨:哈尔滨工业大学自动化学院,2001 Yang Yanjuan.Research on the key technology of strapdown inertial navigation system. Harbin:Automation School,University of Harbin Institute of Technology, 2001(in Chinese) -
点击查看大图
计量
- 文章访问数: 3037
- HTML全文浏览量: 237
- PDF下载量: 900
- 被引次数: 0
下载:
