CAJ | 학술논문

提出基于一种新的圆锥补偿结构的捷联惯导姿态算法。与传统的姿态算法不同，新算法中同时引入了角速率和角增量用于圆锥补偿（适用于角速率输入或角速率和角增量同时输入）。基于所提出的圆锥误差补偿结构，引入时间泰勒方法进行圆锥误差补偿优化设计，并定义了两种性能评价模型，以分别用于一般圆锥和机动环境下的姿态算法性能评估。将新的姿态算法与传统角增量输入的姿态算法通过仿真进行了对比分析，结果表明，在相同的采样频率和姿态更新周期以及相同的圆锥和机动环境的条件下，新的五子样姿态算法的性能明显优于传统角增量输入的五子样姿态算法。
제출기우일충신적원추보상결구적첩련관도자태산법。여전통적자태산법불동，신산법중동시인입료각속솔화각증량용우원추보상（괄용우각속솔수입혹각속솔화각증량동시수입）。기우소제출적원추오차보상결구，인입시간태륵방법진행원추오차보상우화설계，병정의료량충성능평개모형，이분별용우일반원추화궤동배경하적자태산법성능평고。장신적자태산법여전통각증량수입적자태산법통과방진진행료대비분석，결과표명，재상동적채양빈솔화자태경신주기이급상동적원추화궤동배경적조건하，신적오자양자태산법적성능명현우우전통각증량수입적오자양자태산법。
A strapdown inertial navigation attitude algorithm based on a new coning correction structure was presented. What differs from traditional attitude algorithms is that angular rate combined with angular increment is utilized for coning correction, which is suitable for applications with angular rate or “angular rate+angular increment”inputs. Based on the proposed new coning correction structure, a time Taylor series method was introduced to achieve optimal design of the coning correction coefficients. Two performance evaluation models were determined to estimate attitude algorithms under general coning and maneuver environments, respectively. Numerical simulation and analysis indicate that the new five-subsample algori-thm is significantly superior to the traditional angular increment-based algorithm in performance under the same conditions of sampling rate, attitude updating rate, and coning and maneuver environments.