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第40届中国控制会议

作者： Xiaokang Yang Gongmin Yan Sihai Li School of Automation Northwestern Polytechnical University

To make SINS algorithm afford to the atomic gyroscope and high-dynamic maneuver condition, many improvement methods for SINS algorithm to increase algorithm accuracy have been proposed in the past decades. However the researches mainly focus on the attitude update, which is the base of navigation calculation. When attitude algorithm is enough accurate to realize high-accuracy navigation, the velocity algorithm research should be paid more attention, to obtained velocity and position with the same accuracy level. To improve the accuracy of velocity algorithm and apply it in geographic frame, a high-accuracy velocity algorithm based on specific force polynomial is proposed herein. Simulations in different motion environment indicates that the proposed velocity algorithm accuracy improved by two orders of magnitude compared with the conventional algorithm.

关键词： Inertial Navigation velocity algorithm Sculling Error High-Dynamic Maneuver Atomic Gyroscope

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Evaluation and optimization of strapdown velocity numerical integration algorithms for SINS in spinning ballistic missiles

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Journal of Central South University 2013年第4期20卷 942-949页

作者：宋敏吴文启 Department of Automatic Control College of Mechatronics and Automation National University of Defense Technology

The error of the conventional velocity numerical integration algorithm was evaluated through the Taylor series expansion. It is revealed that neglecting the second- and higher-order terms of attitude increments will lead to the velocity numerical integration error, which is proportional to the triple cross product of the angular rate and specific force. A selection criterion for the velocity numerical integration algorithm was established for strapdown inertial navigation system (SINS) in spinning missiles. The spin angular rate with large amplitude will cause the accuracy of the conventional velocity numerical integration algorithm in SINS to decrease dramatically when the ballistic missile is spinning fast. Therefore, with the second- and higher-order terms of attitude increments considered, based on the rotation vector and the velocity translation vector, the velocity numerical integration algorithm was optimized for SINS in spinning ballistic missiles. The superiority of the optimized algorithm over the conventional one was analytically derived and validated by the simulation. The optimized algorithm turns out to be a better choice for SINS in spinning ballistic missiles and other high-precision navigation systems and high-maneuver applications.

关键词： strapdown inertial navigation system (SINS) spinning missile error velocity algorithm

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