捷联惯导系统的误差角关系与推导

Angles Error Relationship and Deduction of SINS

通过平台误差角与姿态误差角物理定义不同,以相关公式推导出二者的转换关系矩阵。直接用平台误差角近似代替载体的姿态误差角会带来很大数学偏差。而在用到姿态误差角时,只要把平台误差角通过相应公式进行预处理便可轻易消除该不必要误差,使得误差状态估算更加精确。

The difference of the platform angles error and the attitude error in strapdown inertial navigation is analyzed and conversion matrix between them is gained. It points out that biggish error will be brought if the attitude error is instead of the platform angles error measured. The uncalled-for error will be eliminated easily if the platform angles error can be pretreated by the conversion matrix expressions, and the error state estimate will be much more precise.