高精度捷联姿态算法设计

Design for an accurate strapdown attitude algorithm

捷联惯性导航系统一般采用圆锥补偿算法来消除圆锥误差的影响,从而提高姿态计算的精度。圆锥补偿算法大致有两种设计思想:首先是基于误差最小化原理,利用Borze旋转矢量进行设计;其次是基于二重积分,利用Goodman-Robinson有限转动定理进行设计。根据这两种设计思想,对二子样优化算法和二子样修正算法进行了详细地推导,然后综合这两种算法的优点形成了一种高精度的捷联姿态算法,并进行了仿真验证。仿真结果表明,改进后的捷联姿态算法在不增加子样数的同时,对圆锥误差的补偿精度大大高于二子样优化算法和二子样修正算法。

The strapdown inertial navigation system （SINS） usually uses coning compensation algorithms to eliminate the influence of coning error and increase the precision of attitude calculation. The algorithms could be designed from two ways usually. The first designing way bases on the minimal error theory and Borze＇s rotation vector. The second designing way bases on the double integral and Goodman-Robinson＇s finite rotations theory. The two-interval optimum algorithm and the two-interval correct algorithm designed from above two ways were deduced respectively. Then based on synthesizing the advantages of above two-interval algorithms, an accurate strapdown attitude algorithm was obtained. To validate the compensation precisions of above algorithms, some digital simulations were taken using computer. The results of digital simulations indicate that the compensation precision of improved strapdown attitude algorithm is significantly higher than that of two-interval optimum algorithm and two-interval correct algorithm.