一种改进的三子样划桨误差补偿算法

摘要

针对在捷联惯导系统速度更新的过程中,采用增量解算需要对划桨误差进行补偿.提出一种利用已解算前两个周期的角增量和速度增量的改进三子样算法.首先,对划桨误差的产生机理进行简要分析.根据误差最小原则,推导出一组优化系数,优化算法相较于传统算法在算法误差上有明显减少.通过仿真实验证明了该方法的有效性,在导航误差中,解算精度有所提高.%For velocity updating process in strapdown inertial navigation system (SINS),there is a need for sculling error compensation when incremental resovling is adopted.A modified three-sample algorithm is proposed by using the first two cycle calculated velocity increment and angular increment.First,the mechanism of sculling error is analyzed briefly.Then,according to the principle of minimum error,a set of optimization coefficient is derived.and therefore the optimization algorithm is obtained,which has less error than traditional algorithm.The simulation results prove the effectiveness of the method,and the improved calculation accuracy in the navigation error.