捷联惯导姿态算法的测试输入研究

Research on Test Inputs for Attitude Algorithms of SINS

总结了经典圆锥运动、广义圆锥运动、规则进动运动、随机角运动、温和环境等捷联姿态算法的测试输入及各自评价姿态算法性能的标准。推导出了不同频率的圆锥运动的角速率,并考查了其不可交换性误差特性,证明在此输入下算法的性能可以由经典圆锥运动来反映。提出了沿参考坐标系方向的圆锥运动,推导出了机体的角速率,并对其不可交换性误差进行了仿真研究。最后给出了在此输入下姿态算法的评价方法。沿参考坐标系方向的圆锥运动是一种新的更为普遍的测试输入。

Test inputs for attitude algorithm of SINS and the evaluating criterion of each attitude algorithm are summarized, such as in pure coning motion, generalized coning motion, regular precession, stochastic angular motion, and benign environment. The regular rate of two-frequency coning motion is derived, and the noncommutativity error is analyzed. Algorithm performance under two-frequency can be evaluated by pure coning motion. Coning motion in reference frame is put forward, then the regular rate is derived, the noncommutativity error is studied by simulation, and the method of evaluating algorithm is provided. Coning motion in reference frame is a new and more universal test input for attitude algorithm.