The error of the conventional velocity numerical integration algorithm was evaluated through the Taylor series expansion. It is revealed that neglecting the second- and higher-order terms of attitude increments will l...The error of the conventional velocity numerical integration algorithm was evaluated through the Taylor series expansion. It is revealed that neglecting the second- and higher-order terms of attitude increments will lead to the velocity numerical integration error, which is proportional to the triple cross product of the angular rate and specific force. A selection criterion for the velocity numerical integration algorithm was established for strapdown inertial navigation system (SINS) in spinning missiles. The spin angular rate with large amplitude will cause the accuracy of the conventional velocity numerical integration algorithm in SINS to decrease dramatically when the ballistic missile is spinning fast. Therefore, with the second- and higher-order terms of attitude increments considered, based on the rotation vector and the velocity translation vector, the velocity numerical integration algorithm was optimized for SINS in spinning ballistic missiles. The superiority of the optimized algorithm over the conventional one was analytically derived and validated by the simulation. The optimized algorithm turns out to be a better choice for SINS in spinning ballistic missiles and other high-precision navigation systems and high-maneuver applications.展开更多
近日有消息传出,自去年年底至今,如风达已经相继收购了4家落地配公司,包括湖南创一、山东海红、河北建华、陕西飞远。事实上,这只是落地配公司遭集中并购的一个缩影。＂截至目前,我们已经有20多家联盟成员企业被收购,包括控股或参股。...近日有消息传出,自去年年底至今,如风达已经相继收购了4家落地配公司,包括湖南创一、山东海红、河北建华、陕西飞远。事实上,这只是落地配公司遭集中并购的一个缩影。＂截至目前,我们已经有20多家联盟成员企业被收购,包括控股或参股。＂日前,中国C O D落地配联盟会长许文伟告诉记者。大举并购落地配＂如果说去年还有落地配公司愿意扛下去,今年可以说已经没有了。展开更多
基金Project supported in part by Program for New Century Excellent Talents in University (NCET) of China
文摘The error of the conventional velocity numerical integration algorithm was evaluated through the Taylor series expansion. It is revealed that neglecting the second- and higher-order terms of attitude increments will lead to the velocity numerical integration error, which is proportional to the triple cross product of the angular rate and specific force. A selection criterion for the velocity numerical integration algorithm was established for strapdown inertial navigation system (SINS) in spinning missiles. The spin angular rate with large amplitude will cause the accuracy of the conventional velocity numerical integration algorithm in SINS to decrease dramatically when the ballistic missile is spinning fast. Therefore, with the second- and higher-order terms of attitude increments considered, based on the rotation vector and the velocity translation vector, the velocity numerical integration algorithm was optimized for SINS in spinning ballistic missiles. The superiority of the optimized algorithm over the conventional one was analytically derived and validated by the simulation. The optimized algorithm turns out to be a better choice for SINS in spinning ballistic missiles and other high-precision navigation systems and high-maneuver applications.
文摘近日有消息传出,自去年年底至今,如风达已经相继收购了4家落地配公司,包括湖南创一、山东海红、河北建华、陕西飞远。事实上,这只是落地配公司遭集中并购的一个缩影。＂截至目前,我们已经有20多家联盟成员企业被收购,包括控股或参股。＂日前,中国C O D落地配联盟会长许文伟告诉记者。大举并购落地配＂如果说去年还有落地配公司愿意扛下去,今年可以说已经没有了。
