捷联惯导系统算法比较研究  

Comparison Between the Algorithms for SINS

作　　者：雷鸣[1] 蔡体菁[1] 李勇建[2] 

机构地区：[1]东南大学科学仪器与工程系,南京210096 [2]四川压电与声光技术研究所,重庆400060

出　　处：《中国惯性技术学报》2002年第1期20-24,共5页Journal of Chinese Inertial Technology

摘　　要：运用四子样圆锥补偿现代捷联惯导系统姿态算法,针对船舶的摇摆运动在数字信号处理芯片(DSPs)上进行了仿真,并与三子样圆锥补偿算法、三子样等效转动矢量法和单子样毕卡逼近法的仿真结果进行了比较。结果表明:四子样圆锥补偿能更有效地抑制不可交换误差,提高姿态精度,且整个导航算法在TMS320C6211 EVM仿真器上运行,所花时间为5.3 毫秒。A four-sample coning compensation for the modern SINS attitude algorithm is simulated in the digital signal processor under the condition of swaying motion, and compared with a three-sample coning compensation, an three-sample equivalent rotation vector, and an sample Peano-Baker approach. The simulating results demonstrate that the four-sample coning compensation algorithm is much efficient in increasing the attitude accuracy by restraining the noncommutativity error. The whole navigation computation takes 5.3 millisecond in the TMS320C6211 EVM.

关 键 词：捷联惯导系统姿态算法 圆锥补偿 等效转动矢量 数字信号处理 仿真 

分 类 号：TN966[电子电信—信号与信息处理] U666.12[电子电信—信息与通信工程]