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捷联惯性导航算法一般是基于惯性器件输出为角速率、比力或角增量、速度增量进行设计的,不能直接应用于陀螺输出为角速率、加速度计输出为速度增量的捷联惯性导航系统。为了解决此问题和满足精度要求,重新设计了一套捷联惯性导航算法:姿态更新算法采用了经典的四阶龙格-库塔法,推导出了一种新的速度更新算法,该算法可以有效补偿速度计算中的划桨效应误差。仿真结果表明,该种速度更新算法仿真速度快、精度高,具有一定的工程实用价值。
Strapdown inertial navigation algorithms are generally based on inertial output device for the angular rate, force or angular increment, the speed increment designed, can not be directly applied to the gyro output angular velocity, accelerometer output for the speed increment of the strapdown inertia Navigation System. In order to solve this problem and meet the precision requirements, a new strapdown inertial navigation algorithm has been redesigned: the pose update algorithm uses the classical fourth-order Runge-Kutta method, and deduces a new speed update algorithm that can Efficient compensation for speed calculation in the paddle effect error. The simulation results show that the speed update algorithm has the advantages of fast simulation speed and high precision, and has certain engineering practical value.