基于内阻尼的捷联航姿算法  

Algorithm for strapdown attitude heading reference system on damp

作　　者：蔡春龙 孟祥涛[1] 

机构地区：[1]北京航天控制仪器研究所,北京100854

出　　处：《中国惯性技术学报》2008年第3期278-281,共4页Journal of Chinese Inertial Technology

基　　金：国防基础科研项目(C0320060532)

摘　　要：捷联惯性航姿系统自身的特征就是误差存在舒勒周期振荡和傅科周期振荡,这就限制了捷联惯性航姿系统的精度。为了提高系统精度,将传统的平台内阻尼的思想引入到捷联惯性航姿系统中,通过设计水平回路中误差通道的三阶内阻尼网络,利用系统自身的速度信息来阻尼周期振荡,同时在内阻尼思想基础上提出了基于内阻尼的捷联航姿算法。由于改变了舒勒调谐的条件,内阻尼算法只有在加速度较小的条件下才能适用。通过数字仿真证明,在载体加速度较小的条件下,新的算法能够抑制舒勒周期振荡和傅科周期振荡,提高了捷联惯性航姿系统的精度。The strapdown attitude heading reference system（AHRS） is characterized by the existing of Schuler and Foucault cycle oscillations in its errors, which could limit the precision of AHRS. By introducing the idea of platform inner-damping into the AHRS, the paper designs a three-order inner damping network for error channel in level loops and uses the velocity information of the system itself to damp the oscillations. Meanwhile, the paper put forward a strapdown AHRS algorithm based on the idea of inner damping. The inner-damping algorithm is applicable only when the system acceleration is small enough because the tuning condition of Schuler loop is changed. Simulations results prove that the new algorithm can inhibit the Schuler and Foucault oscillations, and improve the precision of the strapdown AHRS under the condition that the vehicle＇s acceleration is small enough.

关 键 词：捷联惯性航姿系统 舒勒周期振荡 傅科周期振荡 内阻尼 

分 类 号：U666.1[交通运输工程—船舶及航道工程]