捷联惯性导航系统的姿态算法优化设计

Optimal Design of the Attitude Algorithm for Strapdown Inertial Navigation System

在圆锥运动条件下，具有相同时间间隔的两个角增量的叉乘对圆锥补偿的贡献相等。本文根据这一特点，设计了一种捷联惯导系统姿态算法，在圆锥补偿获得相同精度的情况下，它的计算量较少。同时，利用此特点，推导出利用前一圆锥补偿周期的角增量进行圆锥补偿的算法，提高了补偿精度。本文给出了仿真实验结果。本文为研制激光陀螺捷联惯导系统提供了一种高精度算法。

Under the condition of coning movement,the contributions to the coning compensation by the cross products of the two incrementalangles having equal time intervals are the same. Taking advantage of this property,we designed a sort of attitude algorithm for strapdown inertial navigation system.If the coning compensation accuracy is the same,the calculation burden of this kind of algorithm will be decreased.At the same time,taking advantage of this property,a compensation algorithm is introduced,which takes advantage of the angular increment in the former coning compensation period,and then the compensating accuracy is improved. The results of simulation are also given. This paper provides a kind of high accuracy algorithm for the development of the Ring Laser Gyro Strapdown Navigation System.