一种角速率输入的圆锥算法设计  

Coning algorithm design for angular rate inputs

作　　者：汤传业[1] 陈熙源[1] 李建利[2] 

机构地区：[1]东南大学仪器科学与工程学院微惯性仪表与先进导航技术教育部重点实验室,南京210096 [2]北京航空航天大学仪器科学与光电工程学院惯性技术重点实验室新型惯性仪表与导航技术国防重点学科实验室,北京100191

出　　处：《中国惯性技术学报》2013年第4期456-461,共6页Journal of Chinese Inertial Technology

基　　金：高等学校博士学科点专项科研基金资助课题(20110092110039);973课题(2009CB724002);海洋公益性行业科研专项经费项目子任务(201205035-09);江苏省自然科学基金项目(BK2010196);国家自然科学基金(50975049);江苏省研究生创新项目(CXZZ12_0097);安徽省高校省级科研基金项目(KJ2010B074)

摘　　要：针对角速率输入的传统捷联惯导姿态算法在高动态环境下精度低的问题,提出一种角速率输入的在期望的圆锥运动环境下的频域最优圆锥误差补偿优化算法。在分析圆锥误差补偿通式的基础上,建立了角速率输入的圆锥误差准则,基于最小二乘原理建立了圆锥误差补偿优化目标,并推导了角速率输入的圆锥误差补偿优化系数,讨论了载体运动环境。在圆锥运动环境下,将新算法与传统的频域泰勒算法通过数字仿真进行了对比分析,结果表明,在高频圆锥运动环境下,新算法的精度明显高于频域泰勒算法。Aiming at low accuracy problem of conventional inertial strapdown navigation attitude algorithm for angular rate inputs in high dynamic environments, a coning error correction frequency-domain optimization algorithm for angular rate inputs in expected coning environments was proposed. Firstly, the coning error normalization rule was built for angular rate inputs according to the analysis of the general expression of coning error correction algorithm. Then, the optimal goal of coning error correction was determined based on principle of least square. Simultaneously, the coning error correction optimization coefficients were derived for angular rate inputs, and the vehicle motion environments were discussed. At last, the accuracy analyses of the both algorithms were implemented by comparing the new algorithm with the frequency Taylor algorithm through computational simulation. The results indicate that the accuracy of the new algorithm is significantly superior to that of the frequency Taylor algorithm in high frequency coning environments.

关 键 词：角速率 圆锥运动环境 圆锥误差补偿 优化算法 

分 类 号：U666.1[交通运输工程—船舶及航道工程]