一种用于无陀螺捷联惯导系统的角速度融合算法  

Hybrid algorithm for angular velocity calculation in a gyroscope-free strapdown inertial navigation system

作　　者：王晨[1,2] 董景新[1] 杨栓虎[2] 孔星炜[1] 

机构地区：[1]清华大学精密仪器与机械学系精密测试技术及仪器国家重点实验室,北京100084 [2]西安现代控制技术研究所,西安710065

出　　处：《中国惯性技术学报》2010年第4期401-404,409,共5页Journal of Chinese Inertial Technology

基　　金：国家"十一五"预研项目(51308050208)

摘　　要：无陀螺捷联惯导系统(GFSINS)是用加速度计的合理空间组合解算出载体的角速度。载体角速度的解算精度是GFSINS的技术关键。在分析GFSINS九加速度计配置方案的基础上,提出一种新的角速度融合算法,消除该方案解算过程中开方计算及符号判断带来的误差。该算法还明显抵消了加速度计输出中包含的常值零点偏移误差和温度漂移误差等,具有实时性好、计算量小、通用性强的优点。仿真计算表明该算法可行,并能在一定程度上提高系统解算精度。In gyroscope-free strapdown inertial navigation system（GFSINS）,the angular velocity of a rigid body is calculated by using a linear combination of the accelerometer outputs without using gyros.The precision of angular velocity is critical to the performance and application of GFSINS.Based on the analysis of a nine-accelerometer configuration scheme,a new hybrid algorithm is put forward which avoids the errors caused by extraction and symbol judgment in the angular velocity calculation by this scheme.This algorithm also obviously offsets the zero drift error and the temperature drift error in accelerometer outputs,and has better real-time performance,less computation,and high universality.The simulations indicate that the hybrid algorithm is feasible and can improve the calculation precision of angular velocity to a certain extent.

关 键 词：无陀螺捷联惯导系统 九加速度计配置 角速度解算 融合算法 

分 类 号：U666.1[交通运输工程—船舶及航道工程]