捷联惯性导航系统的姿态算法

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,对一些传统算法进行了分析和研究.由于以往各种算法过多过杂,不便于工程中选用,所以通过对传统的各种姿态算法的原理及数学形式进行归纳分析和研究,提出了通用的算法公式.另外,还提出将剩余误差表示为采样时间与角振动频率乘积的幂次,并根据此幂次来评定圆锥补偿算法的精度的方法.在此基础上,对所提出的通用姿态算法公式进行了误差分析,得到了关于算法精度和参数之间关系的一些结论,为其参数选择提供了选择标准,有工程实用价值.

Attitude 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 tocalculate the attitude matrix of strap-down inertial navigation system. To compensate the coning error introduced by the non-commutivity vector, many custom algorithms were analyzed. Because there are so many algorithms, that the choice is hard for engineering application. Based on the inductive analysis for the principle and mathematical form of custom algorithms, a normalized algorithm was introduced to overcome it. And then, a new method was introduced. By treating the product of sampling time and angular frequency as the parameter λ, the method use the power of λ to express the error ,and can use it to estimate the accuracy of compensate algorithms. Based on this new method, by analyzing the error performances of new algorithms, some conclusions about the relationship of parameter and the accuracy of compensate algorithms were gained. And then, a standard was provided for the parameter selection. The standard can make the choice for engineering application.