角速率输入下的捷联惯导系统改进航姿算法

An Improved Attitude Algorithm for SINS with Angular Rate Input

针对角速率输入下仅利用角增量信息的等效旋转矢量算法精度降低的问题,结合当前角速率、角增量并引入前次角增量信息,提出了一种捷联惯导系统的改进等效旋转矢量航姿算法.在角速率输入条件下,获得了理论上的圆锥误差补偿效果,纯圆锥运动的仿真结果表明捷联系统的姿态精度得到了改善.

To solve the problem that the accuray of rotation vector attitude algorithm computed only by incremental angle was degraded with angular rate input, an improved rotation vector attitude algorithm for Strapdown Intertial Navigation System （SINS） was proposed combined with the current angular rate, incremental angle and previous incremental angle. Under the conditions that angular rate was sampled, good effect was obtained to compensate the cone error theoretically. Simulation results of pure conical motion show that the attitude accuracy of SINS is improved.