| 一种角速率激光陀螺惯导系统高精度姿态算法 |
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| 引用本文： | 曾庆化,刘建业,熊智,赵伟.一种角速率激光陀螺惯导系统高精度姿态算法[J].上海交通大学学报,2006,40(12):2159-2163. |
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| 作者姓名： | 曾庆化 刘建业 熊智 赵伟 |
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| 作者单位： | 南京航空航天大学,自动化学院,南京,210016 |
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| 摘 要： | 在分析圆锥误差补偿通式的基础上,提出了利用角速率求取角增量的拟合算法,并给出了该算法的数学证明.详细推导了基于纯角速率输入的圆锥误差补偿算法的补偿系数和误差主项通式,并从理论上对精度进行了分析.结合激光陀螺频谱特性的仿真对比结果表明,纯角速率输入圆锥误差补偿算法优于常规的四阶龙格库塔算法,能够提高纯角速率输出的捷联惯性导航系统的姿态精度.
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| 关 键 词： | 航姿算法 旋转矢量 激光陀螺 误差分析 |
| 文章编号： | 1006-2467(2006)12-2159-05 |
| 收稿时间： | 2005-12-23 |
| 修稿时间： | 2005年12月23 |
A High-Accuracy Attitude Algorithm of Ring Laser Gyro Strapolown Inertial Navigation System with Pure Angle Rate Output |
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| ZENG Qing-hua,LIU Jian-ye,XIONG Zhi,ZHAO Wei.A High-Accuracy Attitude Algorithm of Ring Laser Gyro Strapolown Inertial Navigation System with Pure Angle Rate Output[J].Journal of Shanghai Jiaotong University,2006,40(12):2159-2163. |
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| Authors: | ZENG Qing-hua LIU Jian-ye XIONG Zhi ZHAO Wei |
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| Institution: | College of Automation Eng. , Nanjing Univ. of Aeronautics and Astronautics, Nanjing 210016, China |
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| Abstract: | Based on the analysis of the general expression of coning compensation algorithms,a method which uses angle rate to fit the angle increment was put forward and verified.The general expression of the coning error compensation coefficients and error dominant term was deduced carefully.The theory(accuracy) of the new algorithm was also analysed.Combined with the character of ring laser gyro(RLG)(spectrum),a contrast simulation was carried out and the simulation result indicates that the coning error(compassion) algorithm with pure angle rate input is better than normal 4-order Runge-Kutta algorithm and it is a good method to improve the attitude accuracy of strapolown inertial navigation system(SINS). |
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| Keywords: | attitude algorithm rotation vector ring laser gyro(RLG) error analysis |
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