基于多区间参数修正的角速率姿态算法  

Angular rate attitude algorithm based on multi-interval information correction

作　　者：梁哲 周召发 徐志浩 吕文亭 段辉 LIANG Zhe;ZHOU Zhaofa;XU Zhihao;LYU Wenting;DUAN Hui(School of Missile Engineering, Rocket Force University of Engineering, Xi’an 710025, China;State Key Discipline Laboratory of Armament Launch Theory and Technology, Rocket Force University of Engineering, Xi’an 710025, China;Unit 92281 of the PLA, Qingdao 266000, China)

机构地区：[1]火箭军工程大学导弹工程学院,陕西西安710025 [2]火箭军工程大学兵器发射理论和技术国家重点学科实验室,陕西西安710025 [3]中国人民解放军92281部队,山东青岛266000

出　　处：《系统工程与电子技术》2022年第5期1636-1643,共8页Systems Engineering and Electronics

基　　金：国家自然科学基金(41174162)资助课题。

摘　　要：姿态解算是惯性导航过程中的核心环节。针对惯组输出为角速率的情况,参考单子样姿态算法的思路,在角速度多项式拟合过程中利用前周期的部分角速率子样信息,通过对多个不同拟合区间的角速度多项式积分来提取并修正对应采样周期的角增量信息,进而利用角速率信息和多次修正后的角增量信息构造圆锥误差补偿结构。仿真结果表明,新算法不仅可以提高姿态的解算频率,且在一定圆锥频率范围内,相较于传统算法的计算精度提高2~3个数量级。Attitude calculation is the core part of inertial navigation.When the output of the inertial group is the angular rate,this paper refers to the idea of the monadic attitude algorithm.In the angular velocity polynomial fitting process,the angular velocity polynomial information of the previous period is used to integrate the angular velocity polynomials in multiple different fitting intervals.The angle increment information corresponding to the sampling period is extracted,and then the angle rate information and the angle increment information after multiple corrections are used to construct a cone error compensation structure.The simulation results show that the new algorithm can not only increase the attitude update frequency of the traditional angular rate attitude algorithm,but within a certain cone frequency range,the calculation accuracy of the traditional algorithm is improved by 2 to 3 orders of magnitude.

关 键 词：捷联惯导姿态算法 角速率输入 圆锥误差 信息复用 滞后修正 

分 类 号：V249.322[航空宇航科学与技术—飞行器设计]