光纤陀螺捷联姿态算法的改进研究.pdfVIP

13 2 2005 4 1005-6734(2005)02-0070-05 U666.1 A Improved Attitude Algorithm of Strapdown System Based on FOG 1,2 1 1 WEI Xiao-ying , LIN Yu-rong , DEN Zheng-long (1. Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China; 2. PLA Corps 96411, Baoji 721006, China) Abstract: Classical attitude algorithms of Strapdown inertial system often use incremental angular signals. However, the outputs of interferometer FOG are angular rate signals. In this paper, the improved attitude algorithms are developed using both angular rate and incremental angular signals, and the coning errors of the algorithms are given. Simulations are made which indicate that the improved algorithms are more accurate than the classical ones. Key words: fiber optic gyro; attitude algorithm; optimized design; error analysis Bortz 1978 2 71 1 1 ⎡ φ sinφ ⎤ 1 ( ) Φ ω+ Φ×ω+ 2 ⎢ − ⎥Φ× Φ×ω 2 φ ⎣ 2(1−cosφ) ⎦ T 1/ 2 ω Φφ (ΦΦ) Φ 1 Φ ω+ Φ×ω 2 (T , T +h) ω a +bt ˆ 2