基于对偶性原理捷联惯导划船误差补偿优化算法

Sculling Compensation Algorithms in Strapdown Inertial Navigation System

先介绍了算法的对偶性原理,并根据此原理和圆锥误差补偿的一般形式,得到了陀螺和加速度计任意子样数下划船误差补偿的一般形式;然后在经典的划船运动条件下,对划船误差补偿算法的系数进行优化,得到了优化后的通用公式及其算法漂移;最后,通过对圆锥误差算法和划船误差算法的复杂度、算法漂移的比较,得出一些有益结论。基于该方法可以充分利用圆锥误差算法的已有结果,由计算机编程计算得到划船误差补偿的任意子样数算法,无需繁琐的重复性推导。

A generic equivalency between strapdown inertial navigation coning and sculling integrals is introduced at first, and the general form of sculling compensation algorithms are obtained according to coning compensation algorithms. The coefficients in them get optimized under sculling base motion and can be solved in a matrix equation. The drift formula of the optimal algorithms is gotten. Some useful conclusions are given by comparing complexity and drift of sculling with coning algorithms. This method is both convenient and precise. It can compensate sculling error instead of repeated deduce work.