加权平均法在GFSINS角速度解算中的应用

针对积分法带来快速误差积累以及开方法存在大量开方运算和符号误判等问题，提出了将加权平均法应用到无陀螺捷联惯导系统(gyro free strapdown inertial navigation system, GFSINS)角速度解算中的新方法。基于一种改进的九加速度计配置方式，推导了两种传统角速度解算方法；采用基于多元统计理论的加权平均法，将积分法和开方法得到的两组角速度通过选择最优权数进行有效数据融合，得到一组误差更小的角速度。仿真结果表明，此方法不仅能消除迭代误差，而且其角速度解算精度比开方法提高了大约1.5倍。

Application of weighted average method on angular velocity calculation of GFSINS

Aim at disadvantages that the integral algorithm can produce accumulation error and the extraction algorithm may bring sign estimation error and a mass of extraction calculation,a new method of angular velocity calculation based on the weighted average method is put forward in the GFSINS (gyro free strapdown inertial navigation system).Based on a nine-accelerometer configuration scheme,two kinds of traditional calculation methods for angular velocity are deduced.To use weighted average method based on multi-statistic theory,two groups of angular velocity got by integral algorithm and extraction algorithm are effectively fused by selecting optimum weight,then a group of less error angular velocity is got.Simulation results show that iterative error is avoided by the new method,moreover,compared with extraction algorithm,the calculation precision of angular velocity is almost improved by 1.5 times.