上海交通大学学报

上海交通大学学报（自然版） ›› 2011, Vol. 45 ›› Issue (03): 388-0392.

• 自动化技术、计算机技术 • 上一篇    下一篇

基于陀螺仪误差后验补偿的捷联惯导圆锥效应补偿算法

李宗涛a,b，吴铁军b，马龙华b   

  1. (浙江大学 a.控制科学与工程学系；b. 导航制导与控制研究所， 杭州 310027)
  • 收稿日期:2010-10-13 出版日期:2011-03-30 发布日期:2011-03-30
  • 基金资助:

    国家自然科学基金（61070003），浙江省自然科学基金（R1090052）资助项目

A SINS Coning Compensation Algorithm Based  on Gyro Error PostCompensation

 LI  Zong-Tao-a, b , WU  Tie-Jun-b, MA  Long-Hua-b   

  1. (a.Department of Control Science & Engineering; b. Institute of Navigation Guidance and Control, Zhejiang University,  Hangzhou 310027, China)
  • Received:2010-10-13 Online:2011-03-30 Published:2011-03-30

摘要：  捷联惯导圆锥效应补偿计算通常基于输出补偿后的陀螺仪角增量，陀螺仪误差补偿速率必须与陀螺仪输出的采样速率相同，相应地增加了导航计算机的吞吐量，为此提出了一种后验补偿方法.首先利用未进行误差补偿的陀螺仪角增量输出计算圆锥补偿项，然后在姿态更新中对由于陀螺仪误差未补偿造成的圆锥补偿误差进行补偿.仿真实验证明，在相同圆锥效应补偿更新速率下，后验补偿算法计算的圆锥效应补偿精度与先验算法相当，但计算量显著降低.

关键词: 捷联惯导系统, 姿态算法, 圆锥运动, 陀螺仪误差, 后验补偿

Abstract:  The coning compensation computation in strapdown inertial navigation system(SINS) attitude updating algorithms is based on the use of compensated gyros incremental angle outputs,  the gyro output errors compensation has to be performed at the high rate of gyro output sampling,thus increasing the throughout of the navigation compater. A postcompensation algorithm was proposed to solve this problem by calculating the coning compensation with uncompensated gyros incremental angle outputs and then compensating for gyros output errors at the updating rate of coning compensation that is lower than the gyro output sampling rate. The simulation results show that the coning compensation accuracy of the proposed postcompensation algorithm is almost the same as that of traditional precompensation algorithms, but the throughput of the navigation computer is significantly reduced.

Key words: strapdown inertial navigation system(SINS), attitude updating algorithm, coning compensation, gyro output errors, postcompensation

中图分类号: