摘要
为了有效抑制随时间发散的无陀螺惯性导航系统(GFINS)的误差,提出了一种新的解算算法(GA6A法)。利用合理配置的6个加速度计和1个起辅助作用的低成本速率陀螺仪,形成一种新的准无陀螺惯性导航系统(NGFINS),通过加速度计组合的输出直接解算载体的角速度数值的绝对值,再利用陀螺仪决定角速度的正负性,从而可以使求解载体姿态和位置的积分次数分别减少1次。给出了新算法的理论推导过程,并对该算法进行了可行性和有效性仿真。当计算步长?t=0.01s,仿真迭代10000次时,采用该算法可使载体姿态角精度和位置精度提高70%以上。
In order to restrain the errors growing with time in Gyro Free Inertial Navigation System （GFINS）, a novel calculative method （ Gyro Assisted 6 Accelerometers algorithm, GA6A ） was proposed, which formed a Nearly Gyro Free Inertial Navigation （NGFINS） using six reasonable configured accelerometers and a low cost assistant rate gyro. Absolute values of angular velocity were obtained directly from outputs of accelerometers and the positive/opposite sign is decided by the gyro. So times of integral for attitude and position calculation were reduced .The deduction process of the novel method was discussed and validity of it are confirmed by simulation results. When stepAt is 0.01s and iteration times of simulation are 10000, the attitude and position accuracy has been improved by more than 70%.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2008年第1期49-52,共4页
Journal of System Simulation
关键词
加速度计
无陀螺
惯性导航系统
误差
accelerometer
gyro free
inertial navigation system
error
