捷联惯导算法四子样圆锥截断误差与补偿技术  

Research on SINS algorithm four-sample coning truncation error and compensation technology

作　　者：田慧[1] 陈一平 周一览[2] 张登伟[2] 佘玄[2] 黄腾超[2] TIAN Hui;CHEN Yiping;ZHOU Yilan;ZHANG Dengwei;SHE Xuan;HUANG Tengchao(Women’s Hospital,School of Medicine,Zhejiang University,Hangzhou 310006,China;State Key Laboratory of Modern Optical Instrumentation,School of Optoelectronic Science and Engineering,Zhejiang University,Hangzhou 310027,China)

机构地区：[1]浙江大学医学院附属妇产科医院,浙江杭州310006 [2]浙江大学光电科学与工程学院现代光学仪器国家重点实验室,浙江杭州310027

出　　处：《传感器与微系统》2020年第11期29-32,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(61203190);浙江省自然科学基金资助项目(LY17F030010,LQ18F050001);国家重点研发计划重点资助项目(2017YFF0204901);航天联合基金资助项目(6141B06270103);航天支撑基金资助项目。

摘　　要：圆锥算法可有效补偿捷联惯导系统(SINS)中圆锥运动产生的误差,但引入了圆锥常值漂移误差和圆锥截断误差。传统圆锥算法通过减小圆锥常值漂移误差来提高算法精度,却忽略了圆锥截断误差的影响。基于Bortz旋转矢量微分方程,提出采用高阶补偿模型抑制圆锥截断误差,分别仿真了高阶补偿算法和传统四子样圆锥算法及其产生的误差。仿真结果表明:高阶补偿算法精度优于传统四子样圆锥算法,在高速大幅度圆锥运动条件下,采用高阶补偿算法的捷联惯导系统,姿态精度可提高约2个数量级。The coning algorithm can compensate the error caused by the coning motion of strapdown inertial navigation system( SINS) effectively. But it brings in the coning constant drift error and the coning truncation error.The exiting coning algorithms usually increase the precision by reducing the coning constant drift error,without considering the effect of the coning truncation error. Based on the Bortz’s rotation vector equation,the coning truncation error is compensated by a higher-order error compensation model. Simulating the high-order compensation algorithm and the traditional four-sample coning algorithm respectively,and comparing the error of each algorithm. The simulation results show that the precision of high-order compensation algorithm is superior to the traditional four-sample coning algorithm. Under the condition of high speed and large coning motion,the SINS attitude control precision can be improved about 2 orders of magnitude.

关 键 词：捷联惯性导航系统 圆锥误差 等效旋转矢量 四子样 高阶补偿 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]