在应用旋转矢量的捷联惯导系统姿态解算中,陀螺采样频率一定的情况下,要提高圆锥误差的补偿精度,除了利用当前姿态更新周期内的陀螺输出,还应利用前面周期的陀螺输出。通过分析,提出了一种利用前M个周期输出的N子样圆锥误差补偿算法的通用形式。这种补偿算法的系数可由矩阵的简单计算获得,无需繁琐推导。最后,通过理论推导和仿真验证,该算法在不增加子样数的基础上能有效提高圆锥误差的补偿精度。

In the attitude calculation of a strap-down inertial navigation system with rotation vector, in order to improve the accuracy of coning error compensation with certain gyro's sampling frequency, the gyro's output from current and previous updating period should be used. A general algorithm applied by N-sample used M-recurrent updating period was provided. The coefficients of this algorithm can be acquired by a simple matrix computation without deduction. Finally, this algorithm can improve the error compensation accuracy without increasing the number of sample by theory analysis and simulative results.