基于新的圆锥补偿结构的姿态算法（英文）

发布时间：2018-01-21 02:32

本文关键词： 姿态算法角速率角增量圆锥补偿结构时间泰勒方法　出处：《中国惯性技术学报》2014年05期 　论文类型：期刊论文

【摘要】：提出基于一种新的圆锥补偿结构的捷联惯导姿态算法。与传统的姿态算法不同,新算法中同时引入了角速率和角增量用于圆锥补偿(适用于角速率输入或角速率和角增量同时输入)。基于所提出的圆锥误差补偿结构,引入时间泰勒方法进行圆锥误差补偿优化设计,并定义了两种性能评价模型,以分别用于一般圆锥和机动环境下的姿态算法性能评估。将新的姿态算法与传统角增量输入的姿态算法通过仿真进行了对比分析,结果表明,在相同的采样频率和姿态更新周期以及相同的圆锥和机动环境的条件下,新的五子样姿态算法的性能明显优于传统角增量输入的五子样姿态算法。
[Abstract]:Put forward a new strapdown coning compensation structure of INS based algorithm. Unlike the traditional attitude algorithm, the new algorithm also introduces the angular rate and angular increment for coning compensation (for input angular rate input or angular rate and incremental angle at the same time). The coning error compensation structure based on the introduction of time Taylor method for cone error compensation optimization design, and define two performance evaluation model, are used to evaluate the general performance of the attitude algorithm of cone and mobile environment. The attitude of the new algorithm and the traditional algorithm of attitude angle increment input by simulation were analyzed. The results show that at the same sampling frequency and attitude the renewal period and the same conditions of cone and mobile environment, five sample and five sample attitude attitude algorithm of the new algorithm has better performance than the traditional incremental angle input.

【作者单位】：东南大学仪器科学与工程学院微惯性仪表与先进导航技术教育部重点实验室;东华大学;
【基金】：国家自然科学基金(51375087) 高等学校博士学科点专项科研基金资助课题(20110092110039) 海洋公益性行业科研专项经费项目子任务(201205035-09) 江苏省普通高校研究生科研创新计划(CXZZ12_0097) 东南大学优秀博士学位论文基金(YBJJ1349)
【分类号】：TN966
【正文快照】： In modern strapdown inertial navigation area,attitude algorithm design activity has concentrated ondeveloping approaches to approximate the integratedrotation vector rate equation,and a general two-stageattitude updating algorithm structure has always be

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