A modified attitude algorithm for fiber strapdown inertial navigation system

摘要

A novel attitude algorithm for fiber strapdown inertial navigation system (SINS) is studied in this paper. The noncommutativity rotation is one of the major errors in attitude updating for SINS. As a general rule, accuracy can be improved by increasing attitude updating frequency. However, it is limited by gyro and computer technology. To solve this problem, a modified algorithm for fiber SINS is proposed. This algorithm uses angular rate as algorithm input and estimates the noncommutativity error with the cross product of angular rates and the cross product of previous accumulated gyro outputs with current gyro outputs. Simulations and experiments are performed under coning motion and three-axis turntable environment, and the results show that the accuracy of the proposed algorithm can be improved effectively under coning motion, as well as in three-axis turntable environment, though not as greatly. (C) 2015 Elsevier GmbH. All rights reserved.