OPTIMIZED STRAPDOWN CONING CORRECTION ALGORITHM  

作　　者：黄磊 刘建业 曾庆化 

机构地区：[1]Navigation Research Center,Nanjing University of Aeronautics and Astronautics [2]Automation Department,Nanjing Forestry University

出　　处：《Transactions of Nanjing University of Aeronautics and Astronautics》2013年第4期343-349,共7页南京航空航天大学学报（英文版）

基　　金：Supported by the National Natural Science Foundation of China(61104188,91016019);the National Basic Research Program of China(2009CB724002);the Research Funding of Nanjing University of Aeronautics and Astronautics(NS2010084,NP2011049)

摘　　要：Traditional coning algorithms are based on the first-order coning correction reference model.Usually they reduce the algorithm error of coning axis(z)by increasing the sample numbers in one iteration interval.But the increase of sample numbers requires the faster output rates of sensors.Therefore,the algorithms are often limited in practical use.Moreover,the noncommutivity error of rotation usually exists on all three axes and the increase of sample numbers has little positive effect on reducing the algorithm errors of orthogonal axes(x,y).Considering the errors of orthogonal axes cannot be neglected in the high-precision applications,a coning algorithm with an additional second-order coning correction term is developed to further improve the performance of coning algorithm.Compared with the traditional algorithms,the new second-order coning algorithm can effectively reduce the algorithm error without increasing the sample numbers.Theoretical analyses validate that in a coning environment with low frequency,the new algorithm has the better performance than the traditional time-series and frequency-series coning algorithms,while in a maneuver environment the new algorithm has the same order accuracy as the traditional time-series and frequency-series algorithms.Finally,the practical feasibility of the new coning algorithm is demonstrated by digital simulations and practical turntable tests.Traditional coning algorithms are based on the first-order coning correction reference model. Usually they reduce the algorithm error of coning axis （z） by increasing the sample numbers in one iteration interval. But the increase of sample numbers requires the faster output rates of sensors. Therefore, the algorithms are often lim- ited in practical use. Moreover, the noncommutivity error of rotation usually exists on all three axes and the in- crease of sample numbers has little positive effect on reducing the algorithm errors of orthogonal axes （x, y）. Considering the errors of orthogonal axes cannot be neglected in the high-precision applications, a coning algorithm with an additional second-order coning correction term is developed to further improve the performance of coning algorithm. Compared with the traditional algorithms, the new second-order coning algorithm can effectively reduce the algorithm error without increasing the sample numbers. Theoretical analyses validate that in a coning environ- ment with low frequency, the new algorithm has the better performance than the traditional time-series and fre- quency-series coning algorithms, while in a maneuver environment the new algorithm has the same order accuracy as the traditional time-series and frequency-series algorithms. Finally, the practical feasibility of the new coning al- gorithm is demonstrated by digital simulations and practical turntable tests

关 键 词：SINS rotation vector coning algorithm coning correctness 

分 类 号：V2[航空宇航科学技术]