电光与控制, 2017, 24 (3): 20, 网络出版: 2017-04-10
一种改进的重叠式三子样圆锥误差补偿算法
An Improved Superimposed Three-Sample Coning Error Compensation Algorithm
捷联惯导系统 圆锥误差 重叠式采样 姿态算法 误差最小准则 SINS coning error superimposed sample attitude algorithm principle of minimum error
摘要
针对增加子样数会降低系统姿态更新频率、引入较大的圆锥误差,提高采样频率会增加导航计算机的硬件负担的问题,提出一种改进的圆锥误差补偿算法。利用前两个计算周期陀螺输出的角增量信息和当前时刻陀螺采样值通过重叠式采样的方式进行圆锥误差补偿,详细推导了重叠式三子样补偿算法的公式,根据算法误差最小准则得到补偿系数。该算法不仅提高了系统姿态更新频率,而且减少了由等效旋转矢量算法引入的圆锥误差,达到了提高姿态解算精度的目的。
Abstract
In view of the problems that increasing the sample number will reduce system attitude updating frequency and bring large coning error,while enhancing sampling frequency will increase the burden of navigation computer hardware,we proposed a modified conic error compensation algorithm.The angle increment information of the first two cycles' gyro output and the gyro sampling values of the current moment are used for coning error compensation by means of superimposed sampling,and the compensation factors are obtained according to the principle of minimum error.The algorithm not only improves system attitude updating frequency,but also reduces the coning error caused by equivalent rotation vector method.Therefore,the precision of attitude algorithm is improved.
杨浩天, 汪立新, 王琪, 孙田川. 一种改进的重叠式三子样圆锥误差补偿算法[J]. 电光与控制, 2017, 24(3): 20. YANG Hao-tian, WANG Li-xin, WANG Qi, SUN Tian-chuan. An Improved Superimposed Three-Sample Coning Error Compensation Algorithm[J]. Electronics Optics & Control, 2017, 24(3): 20.