摘要
用等效旋转矢量表示姿态变化的捷联惯导系统中,多子样圆锥误差补偿方法是通过提高子样数来补偿精度,子样数的增加会导致姿态结算计算量增大,降低导航的实时性,且硬件条件也不支持无限增大子样数,因此,在不增加计算负担和同等子样数条件下,基于二次迭代圆锥误差补偿算法,提出一种改进的圆锥误差补偿算法,以双子样为例,推导了双子样二次迭代优化算法及改进后算法的优化补偿系数,通过计算和仿真,结果表明,改进后的圆锥误差补偿算法在同等子样数下能够显著提高圆锥误差的补偿精度,提高了捷联惯导的姿态精度。
In the strapdown inertial navigation system(SINS)where attitude changes are represented by equivalent rotation vectors,the multi-subsample conical error compensation method compensates for accuracy by increasing the number of subsamples.The increase in subsamples leads to a higher computational load for attitude settlement,reducing the real-time performance of navigation.Moreover,hardware conditions do not support an unlimited increase in subsamples.Therefore,without adding computational burden and under the same number of subsamples,an improved conical error compensation algorithm based on a second-order iterative method is proposed.Taking a dual-subsample as an example,a dual-subsample second-order iterative optimization algorithm and the optimized compensation coefficients of the improved algorithm are derived.Through calculations and simulations,the results indicate that the improved conical error compensation algorithm can significantly enhance the compensation accuracy of conical errors under the same number of subsamples,improving the attitude accuracy of the strapdown inertial navigation system.
作者
刘明
王枭
邓冲
LIU Ming;WANG Xiao;DENG Chong(School of Electrical and Information Engineering,Yunnan Minzu University,Kunming 650000,China;Yunnan Key Laboratory of Unmanned Autonomous Systems,Yunnan Minzu University,Kunming 650000,China)
出处
《组合机床与自动化加工技术》
北大核心
2025年第5期60-65,共6页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金项目(52061042)。
关键词
等效旋转矢量
圆锥算法
误差分析
二次迭代算法
equivalent rotation vector
conical algorithm
error analysis
second-order iterative algorithm
