›› 2012, Vol. 32 ›› Issue (1): 15-20.doi: 10.3780/j.issn.1000-758X.2012.01.003

• 研究探讨 • 上一篇    下一篇

角速率输入条件下圆锥误差补偿算法

 段广仁, 张泽, 孙勇   

  1. (哈尔滨工业大学控制理论与制导技术研究中心,哈尔滨150001)
  • 收稿日期:2011-04-25 修回日期:2012-02-25 出版日期:2012-02-25 发布日期:2012-02-25
  • 作者简介:段广仁 1962年生,1989年获哈尔滨工业大学一般力学专业博士学位,教授。主要研究方向为鲁棒控制。
  • 基金资助:

    国家自然科学基金创新研究群体科学基金(61021002)资助项目

Algorithm for Coning Error Compensation Based on Angular Velocity

 DUAN  Guang-Ren, ZHANG  Ze, SUN  Yong   

  1. (Center for Control Theory and Guidance Technology, Harbin Institute of Technology,Harbin 150001)
  • Received:2011-04-25 Revised:2012-02-25 Online:2012-02-25 Published:2012-02-25

摘要: 针对捷联惯导系统中利用角速率拟合角增量进行圆锥误差补偿精度下降和实时性变差的问题,提出了一种直接利用陀螺的角速率输出进行圆锥误差补偿的算法,利用角速率的叉乘项来拟合圆锥误差补偿项,并推导了四子样圆锥误差补偿算法的具体表达形式,并从本质上阐述了圆锥误差的存在机理。在典型圆锥运动条件下通过对所提算法的仿真并和理论解析解的做差比较,验证了所提算法的可行性和有效性。

关键词: 捷联惯性导航系统, 圆锥误差, 等效旋转矢量, 姿态解算, 航天器

Abstract: For a strap down inertial navigationsystem, the coning error compensation accuracy will be decreased and its real time capability will be worse, whenusing the angular velocity according to the traditional method. In order to solve this problem, a new algorithm was proposed by using the angular velocitydirectly without obtaining the angular increment from the angular velocity through Simpson formula or trapezoid formula. Moreover, the four sample rotationvector algorithm was derived, and the mechanism of the coning error was given. At last, the simulation results of the proposed algorithm and thetheoretical one were compared.

Key words: Strap-down inertial navigation system, Coning error, Equivalent rotation vector, Attitude updating, Spacecraft