旋转惯导捷联算法

On the strap-down algorithm of rotation SINS

针对旋转惯导计算原理,分析了转台测角、测速误差对系统精度的影响。为确定其影响程度,将转台测角、测速误差等效为相应量值的陀螺仪漂移。理论计算和仿真结果表明,转台测量误差特别是测速误差对惯导系统造成较大的影响。提出改进的旋转惯导捷联算法,该算法在姿态更新和导航计算后引入转台转角信息而不涉及转速信息,从算法原理上消除了测速误差对系统精度的影响。

Aiming at the calculation principle of rotation strap-down inertial navigation system（Rotation SINS）,this paper analyzes the effect caused by the measurement error（angle error and angular-rate error）of rotary table.In order to evaluate the extent of this effect,the measurement error is equivalent to an amount of gyro drift.Theoretical deduce and simulation result indicates that the measurement error especially the angular-rate error has a great effect on the RSINS under the condition of current rotary table accuracy.Then this paper presents an improved algorithm which only imports angular information of the rotary table after attitude updating and navigation calculation of RSINS.As a result,the navigation error brought by angular-rate error is avoided.