CAJ | 학술논문

基于典型圆锥运动输入，研究、分析了旋转矢量算法中圆锥补偿误差的变化规律。从理论上推导、分析了基于角速率的旋转矢量算法及其圆锥补偿误差与旋转矢量算法本身、基座动态特性之间的关系；在假定没有传感器测量误差的前提下，结合仿真，得出旋转矢量算法的圆锥补偿误差与捷联惯组的采样频率 f 以及圆锥运动频率ω的关系，给出了圆锥补偿误差随 f/ω的变化规律，确立了旋转矢量算法具有圆锥误差补偿效应的(f/ω)的极限值：(f/ω)≥3。研究结果对捷联惯组的设计及其在高动态环境下的应用具有一定的参考价值。
기우전형원추운동수입，연구、분석료선전시량산법중원추보상오차적변화규률。종이론상추도、분석료기우각속솔적선전시량산법급기원추보상오차여선전시량산법본신、기좌동태특성지간적관계；재가정몰유전감기측량오차적전제하，결합방진，득출선전시량산법적원추보상오차여첩련관조적채양빈솔 f 이급원추운동빈솔ω적관계，급출료원추보상오차수 f/ω적변화규률，학립료선전시량산법구유원추오차보상효응적(f/ω)적겁한치：(f/ω)≥3。연구결과대첩련관조적설계급기재고동태배경하적응용구유일정적삼고개치。
The variational patterns of conical compensation error in rotation vector algorithm are studied and analyzed based on the input of typical conical motion. The rotation vector algorithm based on angle-velocity and the relation among rotation vector algorithm, the conical compensation error in rotation vector algorithm and the base’s dynamic characteristics are deduced and analyzed in theory. With supposing that the error in measurement of inertial sensors is zero, the relation among conical compensation error in rotation vector algorithm, the sampling frequency of SINS and the conical motion frequency ω is found by means of simulation. The variational pattern that how the conical compensation error changes with the (f/ω)is found, and the limit of (f/ω)≥3 is ascertained when coning error compensation can be provided with the rotation vector algorithm, which has some reference value for the design of SINS and its application in high dynamic environment.