[1]熊智,刘建业,王燕萍.激光捷联惯性导航中不可交换性误差补偿算法研究[J].东南大学学报(自然科学版),2003,33(4):419-423.[doi:10.3969/j.issn.1001-0505.2003.04.010]
　Xiong Zhi,Liu Jianye,Wang Yanping.Study on noncommutativity errors correction algorithms of laser strapdown inertial navigation system[J].Journal of Southeast University (Natural Science Edition),2003,33(4):419-423.[doi:10.3969/j.issn.1001-0505.2003.04.010]
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激光捷联惯性导航中不可交换性误差补偿算法研究()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
33
期数:
2003年第4期
页码:
419-423
栏目:
化学化工
出版日期:
2003-07-20

文章信息/Info

Title:
Study on noncommutativity errors correction algorithms of laser strapdown inertial navigation system
作者:
熊智1;  刘建业1;  王燕萍2
1 南京航空航天大学导航研究中心, 南京 210016; 2 海军广州舰艇学院基础部, 广州 510410
Author(s):
Xiong Zhi1;  Liu Jianye1;  Wang Yanping2
1 Navigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
2 Department of Common Knowledge, Guangzhou Naval Academy, Guangzhou 510410, China
关键词:
激光捷联惯性导航系统;  误差补偿;  等效转动矢量;  不可交换性误差
Keywords:
laser strapdown inertial navigation system;  error compensation;  rotation vector;  noncommutativity errors
分类号:
O666.1
DOI:
10.3969/j.issn.1001-0505.2003.04.010
摘要:
针对激光捷联惯性导航系统姿态和速度算法中所引入的不可交换性误差进行了原理上的分析,重点分析了速度计算过程中不可交换性误差产生的原因.从工程化应用观点出发,提出利用等效转动矢量的单子样算法消除不可交换性误差,并且推导出了相应的姿态和速度的误差补偿算法.实际跑车实验结果表明,误差补偿后的系统定位误差下降为原来的二分之一,表明激光捷联惯性导航系统误差补偿算法的设计思路是可行的,设计的系统性能能够达到预定的要求.
Abstract:
The principle of noncommutativity errors is presented, which exists in the attitude and velocity updating algorithms of laser strapdown inertial navigation system. The reason of noncommutativity errors in velocity algorithms is analyzed in detail. From the engineering viewpoint, one sample taken algorithms of rotation vector are proposed to decrease the noncommutativity errors, and the attitude and velocity errors correction algorithms are derived. Experiment results show that the system position errors reduce to half of the original value and thus prove the validity of the errors correction algorithms. The system performance of the design can therefore be reached.

参考文献/References:

[1] 袁信,俞济祥,陈哲.导航系统[M].北京:航空工业出版社,1993.42-47.
[2] Jiang Yeon Fuh,Lin Yu Ping.Improved strapdown coning algorithms [J]. IEEE Transaction on Aerospace and Electronic System,1992,28(2):484-489.
[3] Savage Paul G.Strapdown inertial navigation integration algorithm design,part 1:attitude algorithms [J].Journal of Guidance,Control and Dynamics, 1998,21(1):19-28.
[4] Savage Paul G.Strapdown inertial navigation integration algorithm design,part 2:velocity and position algorithms [J].Journal of Guidance,Control and Dynamics,1998,21(2):208-221.
[5] Litmanovich Yury A,Lesyuchevsky Vladimir M,Gusinsky Valery Z.Two new classes of strapdown navigation algorithms [J].Journal of Guidance,Control,and Dynamics,2000,23(1):34-44.
[6] 陈小刚,赵琳,高伟.捷联惯导中的划船效应及其补偿算法[J].中国惯性技术学报,2002,10(2):12-17.
　 Chen Xiaogang,Zhao Lin,Gao Wei.Sculling motion in strapdown systems and its correction [J].Journal of Chinese Inertial Technology,2002,10(2):12-17.(in Chinese)

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备注/Memo

备注/Memo:
基金项目: 惯性技术预研基金资助项目(514090402).
作者简介: 熊智(1976—),男,博士生; 刘建业(联系人),男,博士,教授,博士生导师,nuaanrc@nuaanrc.com.
更新日期/Last Update: 2003-07-20