考虑陀螺频率特性的角速率输入圆锥补偿算法

Coning compensation algorithm with angular rate considering gyroscope frequency characteristics

针对陀螺直接输出角速率且通带内增益不一致(频率特性),而传统角速率输入圆锥补偿算法要求输入理想的角速率,提出了一种考虑陀螺频率特性的角速率输入圆锥补偿算法.推导了圆锥运动情况下姿态更新周期内理想旋转矢量增量和实际姿态算法计算的旋转矢量增量,以最小化理想旋转矢量增量和计算旋转矢量增量之间非周期项的差异为计算圆锥误差补偿系数的准则,最优补偿系数可以看成是采用理想角速率输入的圆锥补偿算法系数与考虑频率特性时对理想圆锥补偿算法系数修正的和.得到了公式化求解考虑频率特性的各子样算法最优系数的方法.仿真结果表明,所提出的算法比传统角速率输入圆锥补偿算法在精度上有明显提高.

Focusing on the gyroscopes＇ output is angular rate and has a certain frequency characteristics, a coning compensation algorithm considering the gyroscopes＇ frequency characteristics with angular rate as in- put was presented. The ideal and computed rotation vector increment was derived in the attitude update inter- val under coning motion. The coning compensation algorithm coefficients were computed to minimize the non- periodic term difference between the ideal and computed rotation vector increment. The optimal coefficients were defined to be the sum of the values that exist for perfect angular rate input and an adjustment that ac- counts for the frequency characteristics. The formulized approach for the optimal coefficients with arbitrary samples considering frequency characteristics was obtained. Simulation results show that the accuracy of the al- gorithm can be improved effectively as compared with the conventional ones.