摘要
在捷联式航姿系统的软件算法设计过程中,为了减小航姿解算过程中因陀螺漂移等因素造成的随时间推移而积累的姿态误差,采用了基于磁罗盘、加速度计和速率陀螺三种传感器的信息融合技术,从而实现了对姿态积累误差的不定时修正。对基于该融合算法的捷联航姿系统进行了多次静态试验和跑车试验,并以国外某型高精度光纤/GPS组合系统为基准进行了精度考核,试验结果表明设计的航姿系统动态姿态精度为±1.0°,从而验证了融合算法的有效性。
In order to minimum the attitude the information fusion technique based on error caused by gyroscope drift during heading attitude calculating process, compass, accelerators and rate gyroscopes was adopted during strapdown AHRS design to correct attitude error. Many driving and static tests, during which the foreign FOG /GPS integrated system is used as a reference, indicate the validity of the fusion algorithm, and the attitude dynamic accuracy of AHRS achieves ± 1.0 degree with the data fusion technique.
出处
《弹箭与制导学报》
CSCD
北大核心
2009年第6期6-8,共3页
Journal of Projectiles,Rockets,Missiles and Guidance
基金
北京航空航天大学教改立项课题(400375)资助
关键词
捷联航姿系统
信息融合
IMU
磁罗盘
attitude heading reference system
information fusion
IMU
compass
