摘要
针对机抖激光陀螺捷联惯导系统中低通数字滤波器导致陀螺信号畸变的问题,该文以陀螺的滤波信号为算法输入,推导了待补偿的圆锥误差项与角增量叉乘项表达式,优化了设计多子样的修正算法,得到了修正算法的误差漂移率计算式。仿真与试验结果表明:在考虑低通数字滤波器对陀螺信号的作用时,修正圆锥补偿算法的精度明显优于传统算法。
In view of that the low pass filter violates the response of the gyro frequency in the strapdown inertial navigation system(SINS)with dithered ring laser gyros,the coning error compensation terms and expressions of cross products of incremental angles are deduced using the gyro filtered data as the algorithm input.The modified multi-sample algorithms are designed and caculation method of error drifts are given.The simulation and test results show that the modified coning compensation algorithm performs better than conventional ones while considering effects of the low-pass digital filter on gyros.
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2013年第2期280-285,共6页
Journal of Nanjing University of Science and Technology
基金
高等学校博士学科点专项科研基金(20102304110021)
哈尔滨市科技创新人才研究专项资金(2010RFXXG011)
关键词
捷联惯导系统
圆锥算法
伪圆锥
数字滤波器
strapdown inertial navigation system
coning algorithm
pseudo coning
digital filters
