一种对固定频率运动优化的圆锥算法

Optimization coning algorithms to the fixed frequency motion

经典圆锥算法的精度具有随着圆锥运动频率降低而提高的单调特性。在实际应用环境中,捷联惯导系统的运动可能主要处于某个固定的频率范围内,系统的圆锥误差主要由此频率范围内的角运动产生。基于经典圆锥算法设计公式,修改了算法误差设计原则,补充了两条不同的基于固定频率的算法优化原则,从而设计得到了一种新的优化的圆锥补偿算法。优化算法误差特性不再单调,而是在设定的频带内具有误差极小点,因此可有效提高捷联系统的姿态解算精度。优化算法不改变经典圆锥算法的结构形式,不增加算法实现难度。误差分析和姿态仿真表明,在经典圆锥运动下,优化算法能有效改善捷联系统在任意设定频率处的姿态解算精度一到两个量级。

The accuracy of classical coning algorithms monotonically decreased with the increment of coning frequency. In practical application, the motions of SINS may be within certain fixed frequency range, and the system coning errors are mainly generated by these motions. In this paper, based on the classical coning algorithms formula, the design criterion of classic algorithms is modified and two new algorithms optimization principles are added to match the fixed frequency motion. The obtained optimal coning algorithm has the minimized point in the specified frequency band and is no longer monotonic. So the system attitude accuracy can be improved effectively. The new algorithm not only does not change the formation of classic algorithms, but also does not complicate the algorithms realization. The error analysis and attitude simulations illustrate that the optimization coning algorithms can increase the attitude calculation accuracy 1-2 orders higher for the motions with specified frequency.