为满足陀螺输出为角速率、加速度计输出为速度增量的捷联惯导系统在恶劣环境下的精度要求,重新设计了一种速度更新过程中划桨误差的补偿算法,推导了由曲线拟合角速率和比力的划桨误差补偿算法,并在载体作划船运动条件下对算法进行了优化。仿真结果表明,优化后的算法在载体运动剧烈时的补偿效果明显优于普通算法,满足了高动态环境下的精度需求。

To meet accuracy requirements of SINS that the gyro output angular rate and the accelerometer output velocity increment in harsh environments, a new paddling error compensation algorithm is redesigned. The algorithm is deduced in the condition of curve fitting angular rate and specific force. And the algorithm is optimized when carrier for rowing so that it can meet the accuracy requirements in high dynamic environment. Simulation results show that the compensation effect of optimized algorithm is better ordinary algorithm when carrier movement dramatically and it meet the accuracy requirements in high dynamic environment.