激光捷联惯性导航中不可交换性误差补偿算法研究

针对激光捷联惯性导航系统姿态和速度算法中所引入的不可交换性误差进行了原理上的分析，重点分析了速度计算过程中不可交换性误差产生的原因．从工程化应用观点出发，提出利用等效转动矢量的单子样算法消除不可交换性误差，并且推导出了相应的姿态和速度的误差补偿算法．实际跑车实验结果表明，误差补偿后的系统定位误差下降为原来的二分之一，表明激光捷联惯性导航系统误差补偿算法的设计思路是可行的，设计的系统性能能够达到预定的要求．

Study on noncommutativity errors correction algorithms of laser strapdown inertial navigation system

The principle of noncommutativity errors is presented, which exists in the attitude and velocity updating algorithms of laser strapdown inertial navigation system. The reason of noncommutativity errors in velocity algorithms is analyzed in detail. From the engineering viewpoint, one sample taken algorithms of rotation vector are proposed to decrease the noncommutativity errors, and the attitude and velocity errors correction algorithms are derived. Experiment results show that the system position errors reduce to half of the original value and thus prove the validity of the errors correction algorithms. The system performance of the design can therefore be reached.