基于新的圆锥补偿结构的姿态算法（英文）  

Attitude algorithm based on a novel coning correction structure

作　　者：汤传业[1] 陈熙源[1] 李博天 

机构地区：[1]东南大学仪器科学与工程学院微惯性仪表与先进导航技术教育部重点实验室,南京210096 [2]东华大学,上海200051

出　　处：《中国惯性技术学报》2014年第5期580-586,共7页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(51375087);高等学校博士学科点专项科研基金资助课题(20110092110039);海洋公益性行业科研专项经费项目子任务(201205035-09);江苏省普通高校研究生科研创新计划(CXZZ12_0097);东南大学优秀博士学位论文基金(YBJJ1349)

摘　　要：提出基于一种新的圆锥补偿结构的捷联惯导姿态算法。与传统的姿态算法不同,新算法中同时引入了角速率和角增量用于圆锥补偿(适用于角速率输入或角速率和角增量同时输入)。基于所提出的圆锥误差补偿结构,引入时间泰勒方法进行圆锥误差补偿优化设计,并定义了两种性能评价模型,以分别用于一般圆锥和机动环境下的姿态算法性能评估。将新的姿态算法与传统角增量输入的姿态算法通过仿真进行了对比分析,结果表明,在相同的采样频率和姿态更新周期以及相同的圆锥和机动环境的条件下,新的五子样姿态算法的性能明显优于传统角增量输入的五子样姿态算法。A strapdown inertial navigation attitude algorithm based on a new coning correction structure was presented. What differs from traditional attitude algorithms is that angular rate combined with angular increment is utilized for coning correction, which is suitable for applications with angular rate or 'angular rate + angular increment' inputs. Based on the proposed new coning correction structure, a time Taylor series method was introduced to achieve optimal design of the coning correction coefficients. Two performance evaluation models were determined to estimate attitude algorithms under general coning and maneuver environments, respectively. Numerical simulation and analysis indicate that the new five-subsample algorithm is significantly superior to the traditional angular increment-based algorithm in performance under the same conditions of sampling rate, attitude updating rate, and coning and maneuver environments.

关 键 词：姿态算法 角速率 角增量 圆锥补偿结构 时间泰勒方法 

分 类 号：U666.1[交通运输工程—船舶及航道工程]