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针对捷联惯导系统(SINS)在摇摆基座上的自对准误差,提出了减小圆锥误差、提高自对准精度的具体圆锥误差补偿算法。分析比较了四元数四阶龙格-库塔算法、等效转动矢量的二子样、三子样等圆锥误差补偿算法及其理论补偿效果。结合仿真和实验结果得出:自对准误差随算法子样数的增大而降低,子样数增加1,北向对准误差减小近1倍,姿态角的离散度降低;随摇摆幅度的增大和频率的提高,三子样补偿算法的自对准精度接近稳定;综合考虑采样频率、子样数、计算量和对准精度要求,选择三子样圆锥误差补偿算法可以满足SINS摇摆基座下的自对准要求。
Aiming at the self-alignment error of SINS on the swing base, a conical error compensation algorithm is proposed to reduce the coning error and improve the self-alignment accuracy. The quaternion fourth-order Runge-Kutta algorithm, the equivalent rotation vector two sub-like, three sub-like cone error compensation algorithm and its theoretical compensation effect. The results show that the self-alignment error decreases with the increase of the number of sub-samples, the number of sub-samples increases by 1, the error of north-alignment decreases by nearly 1 time, and the dispersion of attitude angle decreases. The accuracy of self-alignment of the three-subsample compensation algorithm is close to stability. Considering the requirements of sampling frequency, sub-samples, computation and alignment accuracy, the three-subsample coning error compensation algorithm can satisfy SINS swing base Under the self-alignment requirements.