角速率输入下的姿态算法设计

A Design of Attitude Algorithm for Angular Rate Input

传统的捷联惯导姿态算法以陀螺角增量输入为基础,但是有许多陀螺输出为角速率,若由角速率提取角增量则会带来很大的算法误差。为此,设计了一种仅使用角速率做输入的旋转矢量算法,并给出了圆锥误差表达式。仿真表明,算法具有较高精度,可显著减少运算量,提高系统输出响应速度。

Classical attitude algorithms of strapdown inertial navigation system are often based on gyro angular increment input. However, quite a lot of gyros give angular rate output, and it will cause much larger algorithm error by extracting the angular increment. This paper presents an algorithm only based on gyro rate input and gives the coning errors of this algorithm. Simulations indicate that the algorithm offers a high precision and can promote the system response ability.