基于对偶法捷联惯导圆锥与划桨算法一般结果  

Generalized results based on duality between SINS coning and sculling algorithms

作　　者：秦永元[1] 石小稳[1] 

机构地区：[1]西北工业大学自动化学院,西安710072

出　　处：《中国惯性技术学报》2008年第1期34-38,共5页Journal of Chinese Inertial Technology

基　　金：武器装备预研基金项目(9140A09051206HK0342)

摘　　要：首先,利用多项式拟合角速度和比力,得出任意子样数的陀螺角增量和加速度计速度增量的一般形式,进而经过一系列的数学形式的变换推导出了任意子样数圆锥效应补偿算法的通用形式;然后,介绍了对偶性原理。利用圆锥效应项与划桨效应项之间的对偶性,通过一个简单的数学方程便可得到任意子样数划桨效应补偿算法的一般形式。这两种补偿算法中的系数均可用计算机简单的计算获得,无需人工的繁琐推导。而且上述方法分析推导过程简洁明了。最后,根据对偶原理给出了划桨效应补偿算法三子样和四子样的精度仿真结果。The general form of arbitrary sample coning compensation algorithm was obtained by a series of mathematical transformations on the basis of the generalized increment forms of gyros and accelerometers which were derived from the polynomial fitting of angular rate and specific force. Then, the principle of duality between Coning and Sculling was introduced. Therefore, a previously derived coning algorithm could be converted to its corresponding sculling algorithm using a simple mathematical formula according to the duality. The coefficients of both Coning and Sculling Algorithms can be acquired by a simple computation on the computer instead of repeated deduce work. Moreover, the process of the method is simple and perspicuous. Finally, the results based on the duality were given to illustrate the precision of three-samples and four-samples Sculling Algorithms.

关 键 词：一般算法 圆锥效应 划桨效应 对偶性 

分 类 号：U666.1[交通运输工程—船舶及航道工程]