Non-Exchangeable Error Compensation for Strapdown Inertial Navigation System in High Dynamic Environment  

作　　者：Qi Wang Changsong Yang Shao’en Wu 

机构地区：[1]School of Computer and Software,Nanjing University of Information Science and Technology,Nanjing,210044,China [2]Jiangsu Engineering Center of Network Monitoring,Nanjing University of Information Science and Technology,Nanjing,210044,China [3]School of Automation,Nanjing University of Information Science and Technology,Nanjing,210044,China [4]Department of Computer Science,Ball State University,Muncie,47306,USA

出　　处：《Computers, Materials & Continua》2020年第8期973-986,共14页计算机、材料和连续体（英文）

基　　金：This work is funded by Natural Science Foundation of Jiangsu Province under Grant BK20160955;a project funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions and Science Research Foundation of Nanjing University of Information Science and Technology under Grant 20110430;Open Foundation of Jiangsu Key Laboratory of Meteorological Observation and Information Processing(KDXS1304);Open Foundation of Jiangsu Key Laboratory of Ocean Dynamic Remote Sensing and Acoustics(KHYS1405)。

摘　　要：Strapdown non-exchangeable error compensation technology in high dynamic environment is one of the key technologies of strapdown inertial navigation system.Mathematical platform is used in strapdown inertial navigation system instead of physical platform in traditional platform inertial navigation system,which improves reliability and reduces cost and volume of system.The maximum error source of attitude matrix solution is the non-exchangeable error of rotation due to the non-exchangeable of finite rotation of rigid bodies.The rotation non-exchangeable error reaches the maximum in coning motion,although it can be reduced by shortening the correction period and increasing the real-time calculation.The equivalent rotation vector method is used to modify the attitude to reduce the coning error in this paper.Simulation experiments show that the equivalent rotation vector method can effectively suppress the non-exchangeable error and improve the accuracy of attitude calculation.

关 键 词：STRAPDOWN error compensation coning motion equivalent rotation vector simulation experiments 

分 类 号：V24[航空宇航科学与技术—飞行器设计]