提高无陀螺捷联惯导系统角速度解算精度的新方法

在无陀螺捷联惯导系统中，由于合弃陀螺而使系统具有很多优点，但角速度需从加速度计输出的信号中解算出来，且它的解算误差随时间而发散。所以，抑制角速度解算误差的发散，提高其解算精度是该项技术研发的关键。提出了一种在九加速度方案下提高角速度解算精度的新方法，它是一种利用冗余信息得到残余误差方程，再进行数值迭代的方法。该方法比建立噪声状态估计、利用卡尔曼滤波束修正姿态的方法简单而有效。仿真结果表明，利用此方法能明显提高系统角速度解算精度。

A New Method for Improving the Angular Velocity Calculation Precision of Gyroscope-Free Strapdown Inertial Navigation System

There are many strengths in the gyroscope-free strapdown inertial navigation system because it is gyroscopes- free; the angular velocity, however, is calculated from signals that are sent by accelerometers, and its calculation error is divergent in time. The key technique, therefore, is how to control the divergence of the angular velocity calculation error and improve the calculation precision. To do the latter in nine-accelerometers schemes, a new method is provided, in which the equation of residual errors is firstly obtained by using the redundant information, then the numerical iteration is applied. The method is simpler and more effective than that one, which uses Kalman filtering to correct satellite attitude errors in the real time after a state noise estimation is received. Simulation results show that the angular velocity calculation precision is obviously improved by the new method.