船用捷联惯性导航系统姿态算法精度评估研究  

Evaluation on Precision of Attitude Algorithm for Ship SINS

作　　者：冯丹琼[1] 徐晓苏[1] 

机构地区：[1]东南大学仪器科学与工程系,南京210096

出　　处：《中国惯性技术学报》2005年第4期10-13,共4页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金项目(60374046);总装备部国防预研基金项目(514090101035W0609)

摘　　要：分析了捷联惯性导航系统姿态解算中不可交换性误差产生原因,提出并分析了一种旋转矢量误差估计模型,并从该模型出发推导了几种高精度的捷联姿态算法,提出了由角速度提取角增量的梯形算法。以船舶为应用对象,进行了数字仿真和算法精度分析比较,结果表明:等效旋转矢量法和梯形算法可以提高系统的姿态解算精度。The factors inducing the noncommutativity error of the strapdown attitude algorithm is analyzed. An error estimating model of rotation vector is presented and analyzed. Based on this model, some kinds of high-accuracy strapdown attitude algorithm are deduced. The trapezic algorithm on extracting angular increment from the angular velocity is presented. Digital simulation, analysis and comparison of algorithm accuracy are made on ship strapdown inertial navigation system. The result shows that the proposed algorithm can improve the attitude accuracy.

关 键 词：捷联惯导系统 姿态解算 等效旋转欠量 梯形算法 

分 类 号：U666.1[交通运输工程—船舶及航道工程]