New coning error compensation algorithm of strapdown inertial navigation system
-
摘要: 旋转矢量法应用在捷联惯导系统圆锥误差补偿中,通过增加子样数能有效提高补偿精度,但子样数的增加会增加导航计算机的计算量.由于导航计算机的硬件性能限制,不可能为了获得高精度补偿性能而大幅增加子样数.因此,提出一种在不增加导航计算机负担下能提高圆锥误差补偿精度的新算法,该算法利用已解算出的当前时刻之前2个周期的姿态信息对旋转矢量进行修正,通过理论推导和实例分析比较,在同子样数下,新算法能达到高出传统算法4阶的补偿精度而不多消耗导航计算机资源.Abstract: Increasing the number of sample can improve the accuracy of error compensation while the rotation vector applied in strapdown inertial navigation system coning error compensation, however, limited with the performance of navigation computer, it is impossible to increase the number of sample sharply to gain high compensation accuracy. A new algorithm to improve the error compensation accuracy without adding more navigation computer cost was presented. By using the precurrent and pre-precurrent attitude information of strapdown inertial navigation system to modify the rotation vector, the new algorithm can gain more four order accuracy than the traditional one after analyzed theoretically and proven by an example. And the new algorithm does not cost more navigation computer resource additionally.
-
[1] Miller R B. A new strapdown attitude algorithm[J]. Journal of Guidance, Control and Dynamics,1983,6(4):289-291 [2] 秦永元,张士邈. 捷联惯导姿态更新的四元数旋转矢量优化算法研究[J]. 中国惯性技术学报,2001,9(4):1-7 Qin Yongyuan,Zhang Shimiao. Research on optimal four-sample rrotation vector algorithm for SINS attitude updating[J]. Journal of Chinese Inertial Technology, 2001,9(4):1-7(in Chinese) [3] 顾冬晴,张海涛,秦永元. 捷联惯导姿态更新的双子样二次迭代优化算法研究[J]. 中国惯性技术学报, 2002,10(3):8-14 Gu Dongqing, Zhang Haitao, Qin Yongyuan. Optimal two-sample iteration algorithm for SINS attitude updating[J]. Journal of Chinese Inertial Technology, 2002, 10(3):8-14(in Chinese) [4] Jiang Y F,Lin Yuping. Improved strapdown coning algorithms[J]. IEEE Transactions on Aerospace and Electronic Systems, 1992,28(2): 484-489 [5] 练军想,胡德文,胡小平,等. 捷联惯导姿态算法中的圆锥误差与量化误差[J]. 航空学报,2006,27(1)::98-103 Lian Junxiang,Hu Dewen,Hu Xiaoping,et al.Research on coning errror and quantization of SINS attitude algorithm[J]. Chinese Journal of Aeronautic s ,2006,27(1): 98-103(in Chinese) [6] Jiang Y F,Lin Yuping. On the rotation vector differential equation[J].IEEE Transactions on Aerospace and Electronic Systems,1991,27(1):181-183 -
点击查看大图
计量
- 文章访问数: 3180
- HTML全文浏览量: 160
- PDF下载量: 1504
- 被引次数: 0
下载:
