一种角速率输入的捷联惯导姿态算法

An angular rate input attitude algorithm in SINS

为提高角速率输入的捷联惯导系统姿态解算圆锥补偿精度,给出一种新的角速率输入的圆锥补偿结构,该结构中引入了角速率拟合的角增量.然后在圆锥运动条件下推导出圆锥误差分析表达式,并采用频域泰勒方法进行圆锥误差补偿系数的优化设计.最后定义了圆锥运动环境下的姿态算法性能评价模型,并将新的姿态算法与传统算法通过仿真进行了对比分析.仿真结果表明,新的五子样算法的中低频规范化圆锥精度比传统五子样算法高出1个数量级以上,在圆锥运动环境下,增加子样数和提高采样频率能够显著提高新算法的性能优势.

For increasing the attitude calculation coning correction accuracy of the angular rate-based strapdown inertial navigation system （SINS ）,a new angular rate-based coning correction structure including angular rate-approximated increments is proposed.Then the coning correction error expres-sion is derived under coning conditions,and the frequency Taylor series method is applied to design the optimized coning correction coefficients.Performance evaluation models are defined to estimate the new attitude algorithm and the traditional algorithm under coning conditions.Numerical simula-tion results indicate that the normalized coning accuracy of the new five-sample algorithm is 1 order of magnitude higher than that of the traditional algorithm in the low to medium frequency range,and increasing the number of samples and the sampling frequency can improve the performance superiori-ty of the new algorithm under coning conditions.