基于角速率输入的圆锥误差补偿算法

针对光纤陀螺姿态测量系统中利用角速率拟合角增量进行圆锥误差补偿精度下降的问题，在陀螺仪角速率输入下，采用参数解析法优化的三子样算法，直接利用陀螺的角速率输出进行圆锥误差补偿。同时考虑工程实际中滤波器的影响，推导滤波角速率输入下三子样误差补偿算法的具体表达形式。仿真分析表明：参数解析法优化的角速率输入圆锥误差补偿算法优于传统算法；而针对滤波器引入的不可忽略的算法误差，可通过修正圆锥算法系数进行补偿。

Coning Error Compensation Algorithm Based on Angular Rate

Aiming at the problem of precision declining of coning error compensation by using angular rate fitting angular increment in attitude measurement system of FOG, this paper adopts the tri-sample algo- rithm optimized by parameters analytic method based on angular rate, and compensates the coning error directly using angular rate output of gyro. With consideration of the effect caused by the filter in actual engineering, the tri-sample rotation vector algorithm is derived with filtering angular rate input. The simu- lation result shows that the coning error compensation algorithm optimized by parameters analytic method is better than traditional algorithm; algorithm error caused by the filter must be taken into consideration during attitude updating, which can be modified by the proposed algorithm coefficient.