| 无陀螺捷联惯导系统角速度解算方法研究 |
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| 引用本文： | 汪小娜,王树宗,朱华兵.无陀螺捷联惯导系统角速度解算方法研究[J].海军工程大学学报,2008,20(3). |
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| 作者姓名： | 汪小娜 王树宗 朱华兵 |
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| 作者单位： | 海军工程大学,兵器工程系,武汉,430033 |
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| 摘 要： | 传统的捷联惯导系统通常用陀螺仪测量载体的角速度,无陀螺捷联惯导系统用加速度计代替陀螺仪,从加速度计输出的比力中解算载体的角速度,角速度的解算精度决定了无陀螺捷联惯导系统的性能及能否在实际中得到应用。分析了一种12加速度计配置方式的无陀螺捷联惯导系统的角速度解算方法,并将卡尔曼滤波技术应用于角速度解算,提高了角速度求解精度。
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| 关 键 词： | 无陀螺捷联惯导系统 卡尔曼滤波 角速度 累积误差 |
Study on algorithm of angular velocity of GFSINS |
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| WANG Xiao-na,WANG Shu-zong,ZHU Hua-bing.Study on algorithm of angular velocity of GFSINS[J].Journal of Naval University of Engineering,2008,20(3). |
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| Authors: | WANG Xiao-na WANG Shu-zong ZHU Hua-bing |
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| Abstract: | The angular velocity of a rigid body in traditional SINS is usually measured with gyroscopes.Gyroscopes are replaced by accelerometers in gyroscope free strap-down inertial navigation system(GFSINS) and the angular velocity is calculated only by using accelerometers.The precision of angular velocity is the key to the performance and application of GFSINS.The algorithm of angular velocity by a GFSINS involving 12 accelerometers was analyzed and Kalman filter was applied to improving the precision of angular velocity. |
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| Keywords: | GFSINS Kalman filter angular velocity accumulative error |
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