摘要
捷联惯导系统一般用划摇算法来补偿其速度漂移,标准的划摇算法是以理想的陀螺和加表信号为输入设计的,而实际中常用数字滤波器处理激光陀螺和加表信号,由于滤波器的非理想性,滤波后信号的幅频特性发生畸变,引入了较大的划摇算法误差。参考标准划摇算法误差公式,用相对划摇误差分析方法比较研究了算法的误差变化特性,证明误差大小与滤波器通带特性有关。基于经典划摇运动,推导了数据滤波后优化的划摇算法公式。修正算法考虑了滤波器幅频特性的影响,补偿了滤波器引入的划摇算法误差。仿真表明:优化算法在保证滤波器较小延时的同时,能明显减小算法精度损失,提高导航算法整体精度水平。
The SINS usually uses sculling algorithms to compensate its velocity drift. The standard algorithms assume the ideal gyro and accelerometer outputs while the real gyro and accelerometer have the distorted magnitude- frequency response due to the low-pass filter used to process the signals. This introduced additional sculling algorithms error. The paper illustrated the relative sculling errors to compare the error characteristics of the standard algorithm in ideal data and filtered data respectively, which show that the error characteristics are related with the pass-band performance of the filter. The optimization sculling algorithms＇ formulas were derived for the filtered data according to the magnitude-frequency response of the filter in classical sculling motion. The new algorithms compensate the additional sculling errors induced by the filter. The simulation results show that the optimization algorithms can reduce the loss of algorithms accuracy and remarkably improve the total precision of the navigation algorithm, meanwhile the delay of the filter is shorten.
出处
《中国惯性技术学报》
EI
CSCD
2007年第5期536-541,共6页
Journal of Chinese Inertial Technology
基金
国家重大基础研究发展计划项目(61334010303)
关键词
划摇算法
激光陀螺
数字滤波
速度误差
sculling algorithms
laser gyro
digital filter
velocity error
