一种无陀螺捷联惯导系统角速度解算组合算法

A Combining Algorithm of Calculating Angular-Velocity in GFSINS

摘要:

无陀螺捷联惯导系统仅利用加速度计就可完成惯性测量与导航,然而采用积分法解算载体的角速度时误差积累严重,发散迅速。文章采用一种常用的九加速度计配置方案,设计一种积分法补偿算法,并针对其初始时段误差过大的问题提出了一种组合算法。仿真验证能有效地抑制解算误差的发散,提高了解算精度。

Abstract:

Yantai Shandong 264001,China: Gyroscope-Free Strap-down Inertial Navigation System (GFSINS) can play the role of inertial measurement and navigation only using accelerometer. However, when adopting integral idea to calculate the angular-velocity of the body, error accumulates seriously and diverges quickly. A compensation algorithm of integral idea was designed on a usual nine-accelerometer disposition scheme. Based on the two algorithms, a combining algorithm was put forward to solve the problem arising in the initial period. The simulation result shows that it can restrain the error divergence effectively and improve calculating precision greatly.