一种快速的基于预积分的SINS等价解算方法

A Fast Equivalent Calculation Method for SINS Based on Pre-integral

针对传统捷联惯性导航系统(SINS)解算算法解算周期固定、精度提升的同时导致计算量大的问题,引入了预积分技术对传统SINS解算算法中惯性量测数据处理进行等效简化,推导出等价惯性解算方法的状态更新方程。仿真结果表明,与二子样SINS解算方法相比,解算精度没有明显损失,但在解算实时性上有明显提升。

Aiming at the problems that traditional calculation methods of strap-down inertial naviga-tion system （SINS） being period-fixed and accuracy increase will lead to more calculation, this pa-per introduces the pre-integration technique to perform equivalent simplification to the processing of inertial measurement data in traditional calculation method of SINS, and deduces the state update equation of equivalent inertial calculation method. The simulation results indicate compared with two-sample calculation method of SINS, the equivalent method does not lose accuracy obviously, but enhances the real-time performance of the calculation.