光纤陀螺姿态系统的旋转矢量算法研究

Study on rotation vector algorithms for fiber optic gyro attitude system

将光纤陀螺作为一种角速率传感器,会使其姿态系统的旋转矢量算法的误差增大,角增量的提取方法改变。为此给出三子样和四子样算法的角速度提取角增量公式,推导算法在圆锥运动下的误差,根据圆锥运动下误差最小的原则,对算法系数进行改进,提出两种改进算法,推导误差公式表明改进算法比原算法的精度提高(Ωh)2倍。仿真表明:改进算法比原算法的精度提高了半个数量级。

In fiber- optic gyroscope （FOG） attitude system, if the angular rates of gyros are used as its outputs, it may increase obviously the estimation errors of rotation vector algorithms under the condition of coning movement, and the method for extracting the angular increment also changes. We extracted the angular increment algorithm with appropriate angular speed, thus can decrease the error. According to the rule that the error is minimum in coning movement, the coefficient of the algorithm is modified. Two modified algorithms are put forward, and the accruacy is increased by （Ωh ）^2 times.