捷联惯导系统的圆锥误差补偿算法研究

非互易向量的确定与补偿是影响高动态、恶劣振动环境下捷联惯性导航系统姿态矩阵计算的重要问题。为了补偿由此引起的圆锥误差，本文对一些传统算法进行了分析和研究。由于以往各种算法一般都需要输入信息为角度信息，但对于高动态、恶劣振动环境，角速度信息更有工程意义，所以针对输入信息为角速度的情形，提出了一类新的姿态算法，通过对比传统的算法，新算法在同样计算量、存储量的情况下有较优的性能，算法的精度较传统的算法高。另外，对新的姿态算法进行了误差分析．为其参数选择提供了选择标准，有工程实用价值。

Coning Algorithm for Strap-Down Inertial Navigation System

Under the condition of high dynamic angular motion or vibration environment, determining and compensating the non-commutivity vector is important to calculate the attitude matrix of strap-down inertial navigation system. To compensate the coning error introduced by the non-commutivity vector, this paper analyzes many custom algorithms. Although custom algorithms need to input the angle information, the angular velocity is more powerful under the condition of high dynamic angular motion or vibration environment. Based on the case where the output signal is angular velocity, a class of new algorithm is introduced. Compared with the custom algorithms, the new algorithms have better performances when using same memory size and computing time. And then, by analyzing the error performances of new algorithms, a standard is provided for the parameter selection.