基于多区间参数修正的角速率姿态算法

doi:10.12305/j.issn.1001-506X.2022.05.25

系统工程与电子技术 ›› 2022, Vol. 44 ›› Issue (5): 1636-1643.doi: 10.12305/j.issn.1001-506X.2022.05.25

基于多区间参数修正的角速率姿态算法

梁哲^1,², 周召发^1,^2,*, 徐志浩^1,², 吕文亭³, 段辉^1,²

1. 火箭军工程大学导弹工程学院, 陕西西安 710025
2. 火箭军工程大学兵器发射理论和技术国家重点学科实验室, 陕西西安 710025
3. 中国人民解放军92281部队, 山东青岛 266000

收稿日期:2021-07-07 出版日期:2022-05-01 发布日期:2022-05-16
通讯作者: 周召发
作者简介:梁哲(1997—), 男, 硕士研究生, 主要研究方向为车载定位定向与组合导航|周召发(1973—), 男, 教授, 博士研究生导师, 博士, 主要研究方向为车载导航、天文导航|徐志浩(1994—), 男, 博士研究生, 主要研究方向为车载导航、天文导航|吕文亭(1981—), 男, 工程师, 本科, 主要研究方向为无人机自动驾驶与导航|段辉(1996—), 男, 博士研究生, 主要研究方向为惯性、天文组合导航
基金资助:
国家自然科学基金(41174162)

Angular rate attitude algorithm based on multi-interval information correction

Zhe LIANG^1,², Zhaofa ZHOU^1,^2,*, Zhihao XU^1,², Wenting LYU³, Hui DUAN^1,²

1. School of Missile Engineering, Rocket Force University of Engineering, Xi'an 710025, China
2. State Key Discipline Laboratory of Armament Launch Theory and Technology, Rocket Force University of Engineering, Xi'an 710025, China
3. Unit 92281 of the PLA, Qingdao 266000, China

Received:2021-07-07 Online:2022-05-01 Published:2022-05-16
Contact: Zhaofa ZHOU

摘要/Abstract

摘要：

姿态解算是惯性导航过程中的核心环节。针对惯组输出为角速率的情况, 参考单子样姿态算法的思路, 在角速度多项式拟合过程中利用前周期的部分角速率子样信息, 通过对多个不同拟合区间的角速度多项式积分来提取并修正对应采样周期的角增量信息, 进而利用角速率信息和多次修正后的角增量信息构造圆锥误差补偿结构。仿真结果表明, 新算法不仅可以提高姿态的解算频率, 且在一定圆锥频率范围内, 相较于传统算法的计算精度提高2~3个数量级。

关键词: 捷联惯导姿态算法, 角速率输入, 圆锥误差, 信息复用, 滞后修正

Abstract:

Attitude calculation is the core part of inertial navigation. When the output of the inertial group is the angular rate, this paper refers to the idea of the monadic attitude algorithm. In the angular velocity polynomial fitting process, the angular velocity polynomial information of the previous period is used to integrate the angular velocity polynomials in multiple different fitting intervals. The angle increment information corresponding to the sampling period is extracted, and then the angle rate information and the angle increment information after multiple corrections are used to construct a cone error compensation structure. The simulation results show that the new algorithm can not only increase the attitude update frequency of the traditional angular rate attitude algorithm, but within a certain cone frequency range, the calculation accuracy of the traditional algorithm is improved by 2 to 3 orders of magnitude.

Key words: strapdown inertial navigation attitude algorithm, angular rate input, cone error, information reuse, lag correction

中图分类号:

V249.32+2

梁哲, 周召发, 徐志浩, 吕文亭, 段辉. 基于多区间参数修正的角速率姿态算法[J]. 系统工程与电子技术, 2022, 44(5): 1636-1643.

Zhe LIANG, Zhaofa ZHOU, Zhihao XU, Wenting LYU, Hui DUAN. Angular rate attitude algorithm based on multi-interval information correction[J]. Systems Engineering and Electronics, 2022, 44(5): 1636-1643.

图/表 7

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N	A₁	A₂	A₃	B₁	B₂	C₁	C₂	C₃
1	-0.033 3	-	-	-	-	0.233 3	-	-
2	-0.166 2	0.005 2	-	0.692 6	-	0.439 0	-0.059 7	-
3	-0.495 8	0.063 5	-4.407 4×10^-4	2.118 2	0.476 4	0.324 7	-0.419 0	0.006 2

半锥角α/(°)	Alg1优势频率区间/Hz	Alg1优势程度	Alg2优势频率区间/Hz	Alg2优势程度
10	450~1 000	0.7~1	1~450	10^-3~1
30	300~1 000	0.6~1	1~300	10^-3~1
50	260~1 000	0.5~1	1~260	10^-3~1
70	200~1 000	0.5~1	1~200	10^-2~1
90	180~1 000	10^-1~1	1~180	10^-2~1

基于多区间参数修正的角速率姿态算法

Angular rate attitude algorithm based on multi-interval information correction

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