陀螺角速率输入下的姿态算法比较

传统姿态算法大都是建立在陀螺角增量输入基础之上的,直接应用于角速率陀螺组成的捷联惯导系统中时,存在着由于要提取角增量而使算法精度下降的问题。本文介绍一种能够同时利用角增量和角速率的旋转矢量改进算法,大幅度提升了算法性能;并针对角增量提取过程精度不高的情况提出了一种新的算法。

Compare of Attitude Algorithms for Gyro Angle Rate Input

Classical attitude algorithms are often based on the foundation of the gyro angular increment input.When the algorithms were applied in strapdown inertial navigation system with the angle rate gyro,there will be worse accuracy for extracting the angular increment.This paper presents an improved attitude algorithms using the angular increment and angle rate,and puts forward a new algorithm to solve the problem of worse accuracy in the process of angular increment extract.