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弹箭与制导学报 >

2023 , Vol. 43 >Issue 2: 26 - 31

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2023.02.005

角速率输入下的双子样二次迭代圆锥补偿算法

  • 任雪佳 1 ,
  • 丁立波 1 ,
  • 冯阳 2 ,
  • 路坦 1
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  • 1 南京理工大学机械工程学院,江苏 南京 210094
  • 2 安徽湘凡科技有限公司,安徽 合肥 231200
丁立波(1977—),男,副教授,博士研究生,研究方向:传感与探测技术、常规弹药制导与控制技术等。

任雪佳(1997—),女,硕士研究生,研究方向:机电系统智能检测与控制。

收稿日期: 2022-07-22

  网络出版日期: 2025-02-24

基金资助

国家重点研发: 173计划技术领域基金项目(2021-JCJQ-JJ-0588)

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A Two-sample Iteration Coning Algorithm for Angular Rate Inputs

  • REN Xuejia 1 ,
  • DING Libo 1 ,
  • FENG Yang 2 ,
  • LU Tan 1
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  • 1 School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,Jiangsu, China
  • 2 Xiangfan Technology Co., Ltd.,Hefei 231200,Anhui, China

Received date: 2022-07-22

  Online published: 2025-02-24

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摘要

传统姿态算法中使用角增量信息,针对角速率输入下的捷联惯性导航系统采用传统旋转矢量算法致使计算精度下降,且不能有效补偿圆锥误差的问题,提出一种直接使用角速率进行姿态解算的双子样二次迭代算法,在理论分析中简化了公式并对补偿系数进行了优化。仿真结果表明,在经典圆锥运动环境下,对比传统圆锥补偿算法,该双子样二次迭代优化算法具有更高的计算精度,且叉乘运算量和基于角速率的三子样优化算法相同。

关键词： 姿态算法; 圆锥误差; 角速率; 二次迭代算法

本文引用格式

任雪佳 , 丁立波 , 冯阳 , 路坦 . 角速率输入下的双子样二次迭代圆锥补偿算法[J]. 弹箭与制导学报, 2023 , 43(2) : 26 -31 . DOI: 10.15892/j.cnki.djzdxb.2023.02.005

Abstract

The traditional attitude algorithm uses the angular increment information. To address the problem that the use of the traditional rotation vector algorithm for the strapdown inertial navigation system with angular rate input will degrade the computational accuracy and cannot effectively compensate for the cone error, a two-subsample dual-loop algorithm is proposed to directly use the angular rate for attitude solution. In the classical conic motion environment, the simulation results show that, compared with the traditional cone compensation algorithm, the two-subsample dual-loop optimization algorithm has higher computational accuracy, and the fork multiplication operation is the same as the three-subsample optimization algorithm based on angular rate, which has certain engineering application value.

Key words： attitude algorithm; cone error; angular rate; two-sample iteration algorithm

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