捷联惯导位置更新中的二子样涡卷补偿优化算法研究

研究了高动态环境下捷联惯导位置更新中的涡卷补偿算法。首先,给出了以地理坐标系为导航坐标系的位置更新算法;然后,基于曲线拟合的思想方法,推导了位置更新的二子样和三子样涡卷补偿算法,并且在划船运动(一种引起涡卷效应的典型高动态环境)下对二子样涡卷补偿算法进行优化,提出了位置更新的二子样涡卷补偿优化算法。仿真结果表明,二子样涡卷补偿优化算法的精度要比二子样涡卷补偿算法高,而其计算量与二子样涡卷补偿算法相当。

Research on the Optimal Two-sample Scrolling Compensation Algorithm for SINS Position Updating

In the paper, the scrolling compensation algorithm in position updating of strapdown inertial navigation system is researched. The position increment algorithm for position updating for strapdown inertial navigation system is derived and the navigation frame of strapdown inertial navigation system is geographic frame. The multi-sample, two-sample and three-sample, scrolling compensation algorithms are derived by means of cure fitting. And then the two-sample scrolling compensation algorithm is optimized under the condition of the sculling movement, which is the typical environment causing the large scrolling compensation term, and the optimal two-sample scrolling compensation algorithm is derived. Simulation results show that the precision of the optimal two-sample scrolling compensation algorithm is higher than the two-sample scrolling compensation algorithm and the calculation amount of the optimal two-sample scrolling compensation algorithm is the same as the two-sample scrolling compensation algorithm.