一种适用于低机动性载体的圆锥算法  

Strapdown coning algorithms for vehicle under low mobility

作　　者：黄新生[1] 方强[1] 

机构地区：[1]国防科技大学机电工程与自动化学院,长沙410073

出　　处：《中国惯性技术学报》2009年第3期278-283,共6页Journal of Chinese Inertial Technology

基　　金：兵器预研项目(402050302)

摘　　要：不同的圆锥算法,其误差的补偿精度各不相同,而补偿精度又影响最终的姿态解算精度,因此研究高补偿精度的圆锥算法非常重要。对捷联惯导系统提出了利用前两个计算周期陀螺输出的角增量信息和当前陀螺采样值的圆锥误差补偿算法,并对新算法中的单子样和双子样算法进行了分析。结果表明,在圆锥运动为低频率的条件下,提出的双子样算法的补偿精度相比传统的优化三子样算法可以提高2个数量级。对于舰艇、轮船等低机动性的载体,由于其圆锥运动处于低频率,可以利用该算法进行姿态更新解算。Different coning algorithms gives different compensation precisions, and the coning errors affect the precision of the attitude update, so it makes sense to develop a high accurate algorithm. An improved conning compensation algorithm for strapdown attitude calculation was developed which utilized the incremental angles of previous two updates and the gyro＇s current sampling value, in which the single-sample and two-sample algorithms were analyzed. The results show that the accuracy of the two-sample updating rotation vector estimation can be improved at least two orders higher as compared with the conventional three-sample algorithm under the condition that the coning motion at low frequency. So we can use the new algorithm to update the attitude when the vehicle＇s motion is under low frequency.

关 键 词：圆锥运动 捷联惯导系统 圆锥误差 低频率 

分 类 号：U666.1[交通运输工程—船舶及航道工程]