基于间隔子样旋转矢量的SINS圆锥误差补偿

SINS Coning Error Compensation Based on Interval-sample Rotation Vector

针对激光陀螺捷联惯导系统的圆锥误差补偿问题,研究了区别于传统多子样算法的姿态解算方法,并提出一种基于间隔子样的等效旋转矢量捷联惯导系统(SINS)圆锥误差补偿方法。该方法通过陀螺仪输出数据中临近姿态解算周期角增量的相关性分析,选取最接近于无限小转动区间的数据,进而优化等效旋转矢量的修正。激光陀螺仪实测数据姿态解算结果表明,相比于一般多子样算法,新方法在补偿精度及算法收敛性等方面均有一定优势。

Focused on the coning error compensation algorithm of RLG strapdown SINS,an attitude algorithm which is different from conventional one is researched,and a class of new algorithm based on interval-sample is proposed in this paper.The correlation analysis of each angle increment outputted by gyroscope with its vicinal ones is conducted in this new algorithm.Then according to the correlation analysis result,the data is selected from the section most approximate to infinitesimal rotation and ameliorate the rotation vector.The attitude algorithm result indicates that the new method has better performances on compensation accuracy and convergence property comparing with the conventional one.