无陀螺捷联惯导系统角速度解算的新方法

Journal of Systems Engineering and Electronics ›› 2010, Vol. 32 ›› Issue (1): 162-165.

无陀螺捷联惯导系统角速度解算的新方法

刘涛1，赵国荣2，潘爽1

(1. 海军航空工程学院研究生管理大队, 山东烟台 264001；2. 海军航空工程学院控制工程系，山东烟台 264001)

出版日期:2010-01-23 发布日期:2010-01-03

New calculating method of angular velocity in gyroscope-free strapdown inertial navigation systems

LIU Tao1, ZHAO Guo-rong2, PAN Shuang1

(1. Graduate Students’ Brigade, Naval Aeronautics and Astronautics Univ., Yantai 264001, China; 2. Dept. of Control Engineering, Naval Aeronautics and Astronautics Univ., Yantai 264001, China)

Online:2010-01-23 Published:2010-01-03

摘要/Abstract

摘要：

针对无陀螺捷联惯导系统中角速度解算精度难以满足工程应用要求的关键问题，利用一种基于九加速度计的配置方案能提供两种角速度解算值（积分值和开方值）的特点，设计了一种智能加权解算方法。该算法利用解算值修正下一时刻积分法的解算初值，使得积分解算值的精度也同时得到了提高，从而形成了良好的精度相互促进机制，然后利用遗传算法和数据拟合方法得到了加权因子的计算公式。仿真结果表明,与现有的解算方法相比，加权算法解算误差的均值减小了19.7％，方差减小了两个数量级。

Abstract:

To solve the key problem that the precision of calculating angular velocity cannot meet the requirement of application in engineering in gyroscope-free strap-down inertial navigation system (GFSINS), an intelligent weighted method is designed based on a nine accelerometers allocation scheme which can provide two calculated values of angular velocity (integral and extracted values). The initial value of integral is updated by using the calculated weighted value obtained from the previous moment, so the precision of the integral value is improved at the same time. Therefore, a wonderful mutual improving loop of precision is formed. Then the calculating formula of the weighted factor is given by the use of genetic algorithm and data fitting method. The simulation result shows that the intelligent weighted method reduces the mean of the calculating error by 19.7% and the variance two orders of magnitude compared with the traditional calculating methods.

刘涛1，赵国荣2，潘爽1. 无陀螺捷联惯导系统角速度解算的新方法[J]. Journal of Systems Engineering and Electronics, 2010, 32(1): 162-165.

LIU Tao1, ZHAO Guo-rong2, PAN Shuang1. New calculating method of angular velocity in gyroscope-free strapdown inertial navigation systems[J]. Journal of Systems Engineering and Electronics, 2010, 32(1): 162-165.