无位置输入的姿态航向算法研究

Study on the Algorithm of Attitude and Heading without Position Inputs

针对姿态航向参考系统中出现的无法装订初始位置信息,不能实时计算飞行器位置信息,引起的地球自转角分量误差无法补偿问题,提出了将速度和姿态误差方程中有关位置项进行简化的方法。简化后的姿态误差方程所造成的误差等效为陀螺漂移的思想,从理论上分析了简化算法因无法补偿位置项和地球自转角分量而造成的误差,设计了基于姿态角的内阻尼卡尔曼滤波器,估计陀螺漂移,修正姿态误差。实验结果表明,对于漂移为10(°)/h的光纤陀螺构建的系统,修正后姿态精度优于0.3°,航向精度优于1°。

A new method of simplifying the relative position terms in the attitude error navigation equations was proposed in view of the existing problems that the initial position information of the aircraft could not be loaded in the Attitude Heading Reference System at the start of navigation, the position information of the aircraft could not be calculated in real time and the induced component of earth＇s turn angular rate could not be compensated. An idea of the error induced by the simplified attitude error navigation equation is equal to the drift of the FOG was also illus- trated in this paper. A theoretical analysis of the error caused by the simplified algorithm which can not compensate the position term and earth＇s turn angular rate component was given. A attitude-based internal damped Kalman filter was designed to evaluate the gyro＇s drift and correct the attitude error. The experimental results showed that the cor- rected accuracy of the attitude was better than 0.3°and the accuracy of heading was better than 1°with the new inte- grated algorithm for the FOG-based system with drift of 10（° ）/h.