Abstract:

Aim at disadvantages that the integral algorithm can produce accumulation error and the extraction algorithm may bring sign estimation error and a mass of extraction calculation, a new method of angular velocity calculation based on the weighted average method is put forward in the GFSINS (gyro free strapdown inertial navigation system). Based on a nineaccelerometer configuration scheme, two kinds of traditional calculation methods for angular velocity are deduced. To use weighted average method based on multistatistic theory, two groups of angular velocity got by integral algorithm and extraction algorithm are effectively fused by selecting optimum weight, then a group of less error angular velocity is got. Simulation results show that iterative error is avoided by the new method, moreover, compared with extraction algorithm, the calculation precision of angular velocity is almost improved by 1.5 times.