摘要
结合工程实际应用,充分考虑激光陀螺捷联惯导系统(RLG SINS)的特性,设计出了一套完整的RLGSINS导航算法,包括姿态更新算法、速度更新算法和位置更新算法。在姿态更新算法中考虑圆锥补偿算法,推导了等效旋转矢量的递推算法;在速度更新算法中考虑划船误差补偿算法,推导了划船误差补偿递推算法。大量的车载实验表明,所设计各部分的算法能协调一致工作,解决了RLG SINS高速姿态和速度更新与导航计算机速度间的矛盾,保证了系统在高动态条件下的导航算法精度,可充分发挥激光陀螺的优势,提高RLG SINS的导航精度。
Combining the engineering practical application and considering the characteristic of RLG SINS,a set of full RLG SINS navigation algorithms was designed.The algorithms included attitude updating algorithm,velocity updating algorithm and position updating algorithm.Coning error compensation algorithm was considered and the rotation vector recursion algorithm was deduced in the attitude updating algorithm.Sculling error compensation algorithm was considered and the sculling error compensation recursion algorithm was deduced in the velocity updating algorithm.A lot of vehicle experiment results showed the algorithms could work conformably,solve contradictions between high speed attitude and velocity updating and CPU speed,and guarantee the accuracy of system algorithms under the condition of high dynamic motion.This could well exert the advantages of RLG,and increase the accuracy of RLG SINS navigation.
出处
《压电与声光》
CSCD
北大核心
2010年第6期965-969,977,共6页
Piezoelectrics & Acoustooptics
基金
总装十一五国防预研课题基金资助项目(51309060401)
