Volume 34 Issue 8
Aug.  2008
Turn off MathJax
Article Contents
Yang Sheng, Fang Jiancheng. General formulas of coning compensation algorithm with angular rate input[J]. Journal of Beijing University of Aeronautics and Astronautics, 2008, 34(8): 920-924. (in Chinese)
Citation: Yang Sheng, Fang Jiancheng. General formulas of coning compensation algorithm with angular rate input[J]. Journal of Beijing University of Aeronautics and Astronautics, 2008, 34(8): 920-924. (in Chinese)

General formulas of coning compensation algorithm with angular rate input

  • Received Date: 30 Jul 2007
  • Publish Date: 31 Aug 2008
  • 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.

     

  • loading
  • [1] Bortz J E.A new mathematical formulation for strapdown inertial navigation[J].IEEE Transaction on Aerospace and Electronic Systems,1971,27(1):61-66 [2] Miller R B. A new strapdown attitude algorithm[J]. Journal of Guidance, Control, and Dynamics, 1983, 6(4):287-291 [3] Jiang Y F, Lin Y P. Improved strapdown coning algorithms[J]. IEEE Transaction on Aerospace and Electronic Systems, 1992, 28(2):484-490 [4] 魏小莹,林玉荣,邓正隆.光纤陀螺捷联姿态算法的改进研究[J].中国惯性技术学报,2005,13(2):70-74 Wei Xiaoying,Lin Yurong,Deng Zhenglong.Improved attitude algorithm of strapdown system based on FOG[J].Journal of Chinese Inertial Technology,2005,13(2):70-74(in Chinese) [5] 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 for rotation vector attitude algorithm[J].Journal of Astronautics,2001,22(3):92-98(in Chinese) [6] 魏晓虹,张春熹,朱奎宝.一种高精度角速率圆锥补偿算法[J].北京航空航天大学学报,2005,31(12):1312-1316 Wei Xiaohong,Zhang Chunxi,Zhu Kuibao.High accuracy coning compensate algorithm by angular velocity[J].Journal of Beijing University of Aeronautics and Astronautics,2005,31(12):1312-1316(in Chinese) [7] 王养柱,崔中兴.捷联惯导系统圆锥补偿算法优化设计[J].中国惯性技术学报,2000,8(1):7-10 Wang Yangzhu,Cui Zhongxing.Optimal design for coning algorithms of SINS[J].Journal of Chinese Inertial Technology,2000,8(1):7-10(in Chinese) [8] 周江华,王峰,孙国基.多子样旋转矢量捷联姿态算法的一般结果[J].航天控制,2002,20(2):18-22 Zhou Jianghua,Wang Feng,Sun Guoji.General formulas of rotation vector based attitude algorithm of SDINS[J].Aerospace Control,2002,20(2):18-22(in Chinese) [9] Park C G. Formalized approach to obtaining optimal coefficients for coning algorithms[J]. Journal of Guidance, Control, and Dynamics, 1999, 22 (1):165-168
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views(3221) PDF downloads(1455) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return