摘要
运用四子样圆锥补偿现代捷联惯导系统姿态算法,针对船舶的摇摆运动在数字信号处理芯片(DSPs)上进行了仿真,并与三子样圆锥补偿算法、三子样等效转动矢量法和单子样毕卡逼近法的仿真结果进行了比较。结果表明:四子样圆锥补偿能更有效地抑制不可交换误差,提高姿态精度,且整个导航算法在TMS320C6211 EVM仿真器上运行,所花时间为5.3 毫秒。
A four-sample coning compensation for the modern SINS attitude algorithm is simulated in the digital signal processor under the condition of swaying motion, and compared with a three-sample coning compensation, an three-sample equivalent rotation vector, and an sample Peano-Baker approach. The simulating results demonstrate that the four-sample coning compensation algorithm is much efficient in increasing the attitude accuracy by restraining the noncommutativity error. The whole navigation computation takes 5.3 millisecond in the TMS320C6211 EVM.
出处
《中国惯性技术学报》
EI
CSCD
2002年第1期20-24,共5页
Journal of Chinese Inertial Technology
