振动条件下激光陀螺捷联惯导系统的圆锥算法研究

分析了振动条件下导弹捷联惯导系统（SINS）圆锥运动形成的原因，研究了经典圆锥运动补偿算法及其估计算法漂移的局限性。针对经典算法存在的局限性以及导弹等武器系统所处振动环境的特点，对标准圆锥补偿算法进行了优化。提出了振动条件下，在保证不影响导航计算机正常工作的前提下，圆锥运动补偿时有效利用前一周期姿态值的优化算法是有必要的。仿真和试验结果表明，在振动条件下，在进行圆锥运动补偿时应当采用标准优化圆锥运动补偿算法。

Coning algorithm of laser gyro strapdown inertial navigation system in vibrating condition

The cause that how the coning motion of missile strapdown inertial navigation system(SINS) in vibrating condition occurs was analyzed, and the classical coning compensation algorithm was studied. The limitation of classical compensation algorithm drifting error was also estimated. In the view the limitations of classical compensation algorithm and the characteristics of the vibrating environment of missiles and other weapons, the standard compensation algorithm were optimized. It was proposed that in vibrating condition, under the condition of not effecting the navigation computer's normal work, it is necessary to consider the pre-sample in the coning motion compensation. Simulation and experiment results show that the coning motion compensation should take the standard compensation algorithm in vibrating condition.