一种用于九加速度计GFSINS的姿态角速度辅助算法

Attitude Angular Velocity Algorithm for Nine-Accelerometer GFSINS

针对现有的一类无陀螺捷联惯导系统九加速度计配置方案解算载体姿态角速度时,存在需要开方及符号判断等不足,提出一种同时具有积分算法包含加速度计误差少、开方算法没有加速度计误差积累两种优点的姿态角速度辅助算法,彻底消除解算过程中开方及符号判断带来的误差,能够在一定程度上提高系统精度,同时降低导航系统的计算量、提高系统的实时性。

An attitude angular velocity assistant algorithm for Nine-Accelerometer GFSINS （Gyroscope Free Strap-down Inertial Navigation System） was put forward. This assistant algorithm thoroughly eliminated the extraction error and sign estimation error which consisted of processing attitude angular velocity in now leading available Nine-accelerometer disposition schemes of GFSINS, not only introduced less error of accelerometer to the system as integral algorithm, but also avoided accumulation of accelerometer error as extraction algorithm, and raised the system precision. Further more, this algorithm reduced the calculation burden of system, and raised the real time of system.