针对无陀螺惯性测量系统中角速度解算的难题,文中在分析目前常用角速度解算方案优缺点的基础上,根据Kalman状态估计理论,建立了新的不局限于某种加速度计配置方式的系统状态方程和观测方程模型,推导出了带控制项和系统干扰噪声的限定记忆Kalman状态估计公式,通过一种九加速度计配置方式,对该估计算法进行了仿真验证,仿真结果表明该算法能有效地提高角速度解算的精度,避免了其他角速度解算方案误差发散和小角度符号判断难题。

In order to improve precision of the angular velocity in gyroscope free inertial measurement system, the current algorithms for angular velocity were analyzed and the system state equation and observation equation were set up by Kalman state estimation theory. The equations did not aim at a certain accelerometers configuration mode. The limited memory Kalman state estimation expressions were got and emulated with a nine accelerometer configuration mode. The emulation results show that this algorithm can improve precision of angular velocity and avert the divergence of the output error and the sign judging problem when angular velocity nears zero.