捷联姿态系统的误差分配算法设计

The Design of Error Allocation Algorithm for Strapdown Attitude System

利用外部参考速度,中精度的捷联惯导系统在罗经方式下可长时间提供高精度的姿态信息,但在设计此类系统时,需要明确惯性元件及外部速度信息对系统姿态误差的影响。文中在完成姿态系统罗经回路设计的基础上,通过分析捷联姿态系统水平回路和罗经回路的误差方程和传递函数,对加速度计误差、陀螺误差和外部速度误差造成的系统姿态误差进行了分析,得出了在稳定状态下这些误差与各姿态误差之间的数学关系,从而完成系统的误差分配设计。

With external referential velocity,the mid-precision strapdown inertial navigation system（SINS） can provide high precise attitude information for a long time when it works as a compass system.But when designing such a system,the effect of inertial component and external velocity on system attitude error should be determined.After the compass loop design had been completed,the error equations and transfer functions in the level loop and compass loop were obtained,and the attitude error caused by errors of accelerators,gyros and external velocity were analyzed,then the mathematical relationship between the steady attitude error and these source error was derived for the error allocation design of attitude system.