基于多区间参数修正的角速率姿态算法

doi:10.12305/j.issn.1001-506X.2022.05.25

Abstract

Abstract:

Attitude calculation is the core part of inertial navigation. When the output of the inertial group is the angular rate, this paper refers to the idea of the monadic attitude algorithm. In the angular velocity polynomial fitting process, the angular velocity polynomial information of the previous period is used to integrate the angular velocity polynomials in multiple different fitting intervals. The angle increment information corresponding to the sampling period is extracted, and then the angle rate information and the angle increment information after multiple corrections are used to construct a cone error compensation structure. The simulation results show that the new algorithm can not only increase the attitude update frequency of the traditional angular rate attitude algorithm, but within a certain cone frequency range, the calculation accuracy of the traditional algorithm is improved by 2 to 3 orders of magnitude.

Key words: strapdown inertial navigation attitude algorithm, angular rate input, cone error, information reuse, lag correction

CLC Number:

V249.32+2

Zhe LIANG, Zhaofa ZHOU, Zhihao XU, Wenting LYU, Hui DUAN. Angular rate attitude algorithm based on multi-interval information correction[J]. Systems Engineering and Electronics, 2022, 44(5): 1636-1643.

Figures/Tables 7

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References 29

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N	A₁	A₂	A₃	B₁	B₂	C₁	C₂	C₃
1	-0.033 3	-	-	-	-	0.233 3	-	-
2	-0.166 2	0.005 2	-	0.692 6	-	0.439 0	-0.059 7	-
3	-0.495 8	0.063 5	-4.407 4×10^-4	2.118 2	0.476 4	0.324 7	-0.419 0	0.006 2

半锥角α/(°)	Alg1优势频率区间/Hz	Alg1优势程度	Alg2优势频率区间/Hz	Alg2优势程度
10	450~1 000	0.7~1	1~450	10^-3~1
30	300~1 000	0.6~1	1~300	10^-3~1
50	260~1 000	0.5~1	1~260	10^-3~1
70	200~1 000	0.5~1	1~200	10^-2~1
90	180~1 000	10^-1~1	1~180	10^-2~1

Angular rate attitude algorithm based on multi-interval information correction

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