Strapdown Inertial Navigation Integration Algorithm Design Part 2 velocity and position algorithms英文教材.pdfVIP

JOURNAL OF GUIDANCE, CONTROL, AND DYNAMICS – Vol. 21, No. 2, March April 1998 Strapdown Inertial Navigation Integration Algorithm Design Part 2: Velocity and Position Algorithms Paul G. Savage¤ Strapdown Associates, Inc., Maple Plain, Minnesota 55359 This series of two papers (Parts 1 and 2) provides a rigorous comprehensive approach to the design of the princi- pal software algorithms utilized in modern-day strapdown inertial navigation systems: integration of angular rate into attitude, acceleration transformation/integration into velocity, and integration of velocity into position. The algorithms are structured utilizing the two-speed updating approach originally developed for attitude updating; an analytically exact equation is used at moderate speed to update the integration parameter (attitude, velocity, or po- sition) with input provided from a high-speed algorithm measuring recti ed dynamic motion within the parameter update time interval [coning for attitude updating, sculling for velocity updating, and scrolling (writer’s terminol- ) ogy for high-resolution position updating]. The algorithm design approach accounts for angular rate/speci c force acceleration inputs from the strapdown system inertial sensors, as well as rotation of the navigation frame used for attitude referencing and velocity integration. The Part 1 paper (Savage, P. G., “Strapdown Inertial Navigation Integration Algorithm Design Part 1: Attitude Algorithms,” Journal of Guidance, Control, and Dynamics , Vol. 21,