捷联系统圆锥优化算法探究.docVIP

捷联系统圆锥优化算法探究摘 要:传统的捷联姿态算法采用角增量计算旋转矢量。而对于采用光纤陀螺、微机械陀螺等新型惯性传感器的捷联系统,陀螺输出信号为角速率。通过角速率积分得角增量会带来计算误差。因此,以角速率作为圆锥算法的输入信号。参照传统算法,用角速率表示旋转矢量的微分方程,以角速率的叉乘项拟合圆锥误差项,并且在典型圆锥环境中计算多项式的系数。推导出一组改进的圆锥补偿算法,并给出新算法的误差漂移表达式。采用典型圆锥环境测试新算法的性能,当算法的输入为角速率时,新算法的精度比较传统算法有显著的提高。 关键词:捷联姿态算法;旋转矢量;角速率;圆锥补偿 中图分类号:U666.1 文献标志码:A文章编号:1671?7953(2009)04?0022?04 Study of Optimized Coning Algorithm for SINS LIU Xing?zhang FU Jian?nan?2 (1.Liaonan Shipyard,Dalian,116041,China;2.College of automation,Harbin Engineering University,Harbin 150001,China) Abstract: Among the numerous conventional treatises on strarpdown attitude algorithms, most utilize incremental angle to compute rotation vector. But that isn’t appropriate for the fiber-optic gyro and micro-electromechanical system (MEMS) outputting angle rate. Because the integration of angle rate for the purpose of getting incremental angle causes error. So we used angle rate as algorithm input, expressed differential equation with angle rate, approximated coning term with multiply of angle rates. The coefficients were optimized under classical coning circumstance. The new set of coning compensation algorithms and their error drifts were derived. The performances of improved algorithm were tested under classical coning circumstance. When angle rate is used as input, the accuracy of attitude computation can be improved effectively as compared with conventional algorithms. Key words: strarpdown attitude algorithm;rotation vector;angle rate;coning compensation 刚体转动的不可交换性导致圆锥误差的产生,而圆锥误差是影响捷联姿态矩阵计算精度的重要因素[1]。研究合适的旋转矢量修正算法是克服圆锥误差的有效途径。目前的旋转矢量算法都是基于陀螺输出角增量信息[2],对于陀螺输出为角速率信号的新型捷联系统已不再适用。本文以角速率作为算法的输入信号,设计出改进的圆锥补偿算法,提高了捷联系统姿态计算的精度 1 传统算法 1.1 传统三子样算法 传统姿态算法以旋转矢量描述载体的运动姿态,旋转矢量的微分方程可表示为[3]: ?#8226;=ω+12?×ω+1α?21-αsinα2-2cosα?×(?×ω) (1) 其中?表示幅值为α=(??T?)??1/2?的旋转矢量,ω表示角速度。当α足够小时,?的高次项可忽略不计。简化式(1),得到工程中常用的近似方程: ?#8226;=ω+12α×ω,α=∫ωdτ(2) 式(2)中的第二项反映了在姿态解算周期中刚体转动的不可交换性误差对旋转矢量计算的影响 在每个姿态计算周期h内三次采样角增量信号,得到三子样旋转矢量表达式[4]: ?Δ??–θ