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滤波角速率输入的圆锥误差补偿

曾庆化 刘建业 祝燕华 赖际舟   

  1. 南京航空航天大学 导航研究中心，江苏 南京 210016
  • 收稿日期:2007-03-02 修回日期:2007-06-05 出版日期:2007-09-30 发布日期:2007-09-30

Compensation for Coning Error of Pure Filtered Angular Rate Input

ZENG Qing-hua, LIU Jian-ye, ZHU Yan-hua, LAI Ji-zhou   

  1. Navigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
  • Received:2007-03-02 Revised:2007-06-05 Online:2007-09-30 Published:2007-09-30

被引次数

7

摘要： 为了提高光纤陀螺捷联惯性导航系统精度，提出了滤波角速率输入的圆锥误差补偿方法。根据滤波前后物理量圆锥效应的不同，分析滤波圆锥误差准则，并依据滤波角速率求取滤波角增量的算法，推导了滤波角速率输入的捷联惯性导航系统圆锥误差补偿中的误差补偿系数和误差主项。结合光纤陀螺特性的对比仿真结果表明，滤波角速率输入圆锥误差补偿算法精度比传统姿态算法精度高2～3个数量级。滤波角速率输入圆锥误差补偿算法更贴近工程，对提高角速率陀螺构建的捷联惯性系统精度具有重要理论和工程意义。

关键词: 姿态算法, 圆锥误差, 旋转矢量, 误差分析, 光纤陀螺

Abstract: To improve the precision of fiber optic gyro strapdown inertial navigation system (FOG SINS), a cone-error compensation algorithm with pure filtered angular rate input is proposed. From the different coning effects of the physical quantity before and after filtering, the rule of coning error is analyzed. Combined with the angular increment algorithm using angular rate, compensation coefficients and the dominant terms of the coning error compensation algorithm in SINS with pure filtered angular rate input are derived. Results of simulation with the characteristics of real FOG IMU indicate that the proposed coning compensation algorithm is two or three orders better in precision than the traditional attitude algorithm. Coning compensation with pure filtered angular rate input is closer to the actual system. It has theoretical and practical values for improving attitude accuracy of SINS made up of angular rate gyros.

Key words: attitude algorithm, coning error, rotation vector, error analysis, FOG