13加速度计捷联惯导姿态解算方法(英文)

Design of attitude algorithm for 13-accelerometer based inertial navigation system

为了减小全加速度计捷联惯导(亦称无陀螺惯导)角速度重构误差以提高姿态解算精度,提出了一种13加速度计无陀螺惯导配置方案。针对合理设计的13加速度计捷联惯导能同时提供角速度和角加速度信息的特点,提出了一种基于角速度/角加速度信息的捷联姿态算法,采用艾尔米特插值方法进行离散角速度插值重构,利用重构后的角速度信息进行姿态矩阵求解。分析了新姿态算法的基本步骤,并进行了典型圆锥运动仿真实验。结果表明,采用新方法求解姿态矩阵的精度提高40%以上。不同于传统姿态算法仅利用角速度信息,新的姿态算法利用更多的信息,能获得更好的精度。

In order to alleviate reconstruction errors and improve the precision in attitude algorithm of all-accelerometer based Inertial Navigation System（also called Gyroscope-Free Inertial Navigation System,GFINS）,a new scheme of 13 accelerometer based GFINS is presented.And a novel attitude algorithm for attitude matrix computing is proposed.It combines angular rates with angular accelerations,which are obtained from the specially designed 13-accelerometer based GFINS.Hermite interpolation method is used to reconstruct the discrete angular rates.With the reconstructed angular rates,attitude matrix can be determined.Basic steps of new algorithm are analyzed,and simulation experiments based on typical coning motion are made.The results show that the precision of new algorithm is improved by more than 40%.Different from usual attitude algorithms which use only angular rates,the new attitude algorithm use more information and can achieve better precision.