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《Journal of Chinese Inertial Technology》 2011-02
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Improved algorithm for high dynamic strapdown inertial navigation system

ZHAO Xin,WANG Shi-cheng,YANG Dong-Fang,GAO Yun-guang,LUO Da-cheng (1.The Second Artillery Engineering College,Xi'an 710025,China; 2.Department of Computer Science and Technology,Tsinghua University,Beijing 100084,China)  
To accurately compensate the large coning error aroused by high dynamic circumstance,an improved three-sample multi-loop equivalent rotation vector iterative algorithm is presented.Firstly,the paper analyses the influence to SINS brought by high dynamic circumstance,and expatiates the basic theory of strapdown solution.Then several main attitude solution algorithms are compared and contrasted.To solve the problem that common algorithms can not compensate the coning error perfectly,this paper,based on the multi-sample dual-loop equivalent rotation vector iterative algorithm,considers the algorithm performance from heightening precision and reducing calculation,and studies an improved three-sample multi-loop equivalent rotation vector iterative algorithm.Finally,the performance of the proposed algorithm is analyzed.The low-dynamic testing experiment and high dynamic simulation experiment results show that the attitude accuracy of the improved algorithm is similar to that of Peano Baker quaternion numbers in low dynamic conditions,but is higher than the attitude accuracy of Peano Baker quaternion numbers by 3 orders of magnitude in high dynamic conditions.
【Key Words】: SINS attitude solution equivalent rotation vector high dynamic circumstance
【Fund】: 国家863课题资助项目(2009AA7050411);; 国家自然科学基金(60572061)
【CateGory Index】: V249.322
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