关于激光捷联惯性导航系统姿态算法的分析

圆锥误差和量化误差是激光捷联惯性导航系统姿态解算误差的两个最主要的误差源.从分析圆锥误差产生的机理出发,分别分析了以角度和角速度为计算参数的圆锥误差补偿算法,并对量化误差对圆锥误差补偿算法的影响进行了研究.通过理论分析和数字仿真,得出在实际工程应用中,采用角速度为输入信息的激光捷联惯性导航系统姿态算法应该在考虑量化误差的情况下,采用以角速度为计算参数的圆锥误差补偿算法.

Analysis on Attitude Algorithm of Laser SINS

Coning error and quantizing error are two kinds of primary errors in the attitude algorithm of laser strap-down inertial system. This paper starts with the analysis on the mechanism of coning error, then gives two kinds of coning compensate algorithm. One compensate algorithm is computed with angle, and the other compensate algorithm is computed with the rate of angle. At last the analysis on the impaction of quantizing error is given. By analysis and simulation, the result shows that the attitude algorithm for laser strapdown inertial system should use the coning compensate algorithm which is computed with the rate of angle when considering sample quantization error.