Improvement of the Angular Velocity Precision of Gyro-Free SINS Using Residual Error Estimation Algorithm

摘要

To overcome the demerit that the calculation error of angular velocity is divergent with time in Gyro-free strapdown inertial navigation system (GFSINS), a new residual error estimation algorithm (REEA) is presented to improve the calculating precision of the angular velocity in the nine-accelerometers-scheme. The residual error equation (REE) is obtained for REEA using the redundant information by the calculating values of the angular velocity and angular velocity product from signals that are sent by redundant accelerometers, and the errors are estimated using the robust least square algorithm. Simulating results show that the calculating precision of angular velocity error of GFSINS can be unproved approximately one-level stage by using REEA, the eastern position error and the northern position error are dropped from 700Km and 2500Km to 140km and 250Km respectively when simulating tune is during 1200s, and the method proposed is an effective approach to improve the calculating precision of GFSINS.