一种改进的捷联惯导系统划船补偿算法

高精度的划船效应补偿算法是提高高动态、恶劣振动环境下捷联惯性导航系统性能的重要手段之一。鉴于所研究系统的陀螺及加速度计的输出都是脉冲，因此可以转化得到载体的角速率、加速度、角增量和速度增量。本文将角速率，角增量以及加速度，速度增量信号同时引入速度更新计算当中，提出了一类新的划船效应补偿算法。对这类新划船效应补偿算法的系数方程进行了推导并对其补偿性能进行了分析。根据系数方程列出了几种补偿算法的系数和补偿误差。采用典型划船运动作为测试输入，对列出的新算法进行了仿真研究。仿真结果表明，与传统的划船补偿算法相比，新算法具有更高的补偿精度。

Improved Strapdown Inertial Navigation System Sculling Algorithms

High accuracy sculling compensation algorithm is an important method, which could enhance the capability of strapdown inertial navigation system (SINS) in high dynamic and atrocious vibration environment. Considering the output of gyroscope and accelerometer of the system is pulse, then angular velocity, acceleration, angular increment and velocity increment of carrier could be obtained from the output, a new kind of sculling compensation algorithm has been introduced in this paper. This new kind of sculling compensation algorithm needs to input angular velocity, acceleration, angular increment and velocity increment of carrier synchronously. Then, the coefficient equation of this new kind of sculling compensation algorithm has been derived and its compensation performance has been analyzed. Subsequently, coefficients and errors of several new sculling compensation algorithms have been listed according to the coefficient equation. Afterward, using the typical sculling motion as test input, the simulations of partial listed sculling compensation algorithms have been made. The simulation result indicates that the new kind of sculling compensation algorithm is more accurate than the traditional sculling compensation algorithm.