基于外定位阻尼的捷联惯导算法设计

传统外阻尼惯导系统以外速度作为辅助参考,但在仅能提供外定位参考的条件下,为了避免由定位信号差分求取速度时造成噪声放大负面效应,推导了基于定位误差的罗经初始对准算法,并将它与捷联惯导姿态解算相结合,得到定位阻尼捷联惯导算法.该算法具有计算量小和稳定性好等优点,但与Kalman滤波组合导航相比,也有它自己的应用条件并存在一些不足之处.最后,利用GPS定位和激光捷联惯导系统进行了车载试验,验证了所提算法的有效性.

Damping SINS algorithm based on outer position

In traditional level-damped navigation system,an outside velocity measurement is taken as its reference.To avoid the noise's increasing in calculating velocity using differential position signal,some new gyrocompass control principles based on position error are deduced for the situation that position information is the only available data.Moreover,by combining with strapdown attitude equations,the position-damped strapdown inertial navigation algorithm is obtained.The proposed algorithm has the advantages ...