CAJ | 학술논문

传统的捷联惯性导航算法求解比力积分项采用了一阶近似方法，近似误差对高精度导航应用的影响是不可忽略的。为消除近似误差，提出了一种改进的捷联导航算法。在惯性坐标系中，将地速分解为比力地速与重力地速两部分，求出了能够完全补偿动态误差的比力积分变换项解析表达式，在此基础上得到了比力地速的精确解，并将其求解方法扩展应用于重力地速，在不改变传统导航算法实现框架的前提下，设计了高精度的捷联惯性导航算法。改进导航算法的精度与对偶四元数导航算法一致，而其实时性却与传统导航算法相当，获得了整体性能上的优势。
전통적첩련관성도항산법구해비력적분항채용료일계근사방법，근사오차대고정도도항응용적영향시불가홀략적。위소제근사오차，제출료일충개진적첩련도항산법。재관성좌표계중，장지속분해위비력지속여중력지속량부분，구출료능구완전보상동태오차적비력적분변환항해석표체식，재차기출상득도료비력지속적정학해，병장기구해방법확전응용우중력지속，재불개변전통도항산법실현광가적전제하，설계료고정도적첩련관성도항산법。개진도항산법적정도여대우사원수도항산법일치，이기실시성각여전통도항산법상당，획득료정체성능상적우세。
In traditional strapdown inertial navigation algorithm, the specific force integral term is solved by using a first order approximation method, and the approximation errors’ influence on high precision applications can not be ignored. In order to eliminate the approximation errors, an improved strapdown navigation algorithm is developed in this paper. The ground velocity projected in the inertial frame is split into specific force ground velocity and gravity ground velocity. By deriving an analytical formula able to completely compensate the dynamic errors for the specific force integral term, we obtain the exact solution for the specific force ground velocity. By using the same method in solving the gravity ground velocity, we develop an improved strapdown inertial navigation algorithm with high precision under the implementation framework of traditional navigation algorithms. The improved navigation algorithm has overall performance advantage, and its navigation accuracy equals to that of dual quaternion navigation algorithms, but its real-time performance is about the same as traditional navigation algorithms.