摘要
捷联惯性导航算法一般是基于惯性器件输出为角速率、比力或角增量、速度增量进行设计的,不能直接应用于陀螺输出为角速率、加速度计输出为速度增量的捷联惯性导航系统。为了解决此问题和满足精度要求,重新设计了一套捷联惯性导航算法:姿态更新算法采用了经典的四阶龙格-库塔法,推导出了一种新的速度更新算法,该算法可以有效补偿速度计算中的划桨效应误差。仿真结果表明,该种速度更新算法仿真速度快、精度高,具有一定的工程实用价值。
The angular rate, specific force or angular increment and velocity increment are often used in the algorithms of strap-down inertial system. The algorithm can not be applied to strap-down inertial system whose output signals are angular rate and velocity increment. In order to solve the problem and meet preci- sion requirements, a set of new navigation algorithms are developed. The four-order Range-Kutta method is adopted in attitude update. A new velocity update algorithm is deduced which can compensate sculling effect. The obtained simulation results show the effectiveness of this approach.
出处
《航天控制》
CSCD
北大核心
2012年第3期3-6,共4页
Aerospace Control
关键词
角速率
速度增量
四阶龙格-库塔法
划桨效应
Angular velocity
Velocity increment
Four-order Range-Kutta method
Sculling effect
