Research on adaptive damping method for inertial navigation system attitude error suppression algorithm

摘要

In the undamped state, the attitude errors will be affected by the inertial instrument error. In order to suppress the Schuler oscillation, traditionally a damping network is usually introduced. But the damping network will bring new attitude errors. To solve the problem, a method based on adjustable parameters is proposed. After the introduction of parameter for proportional control, the relationship between carrier acceleration, damping ratio and attitude error is analyzed. An adaptive damping network scheme is based on the control parameter and acceleration. The BP neural network is applied to fit data samples of carrier acceleration and control parameter. The adaptive curve that can be adjusted in real time according to the acceleration of the carrier is obtained. Compared with the traditional transfer function type damping network and the fixed control parameter method, this method greatly simplifies the design of the damping network structure, and can adaptively adjust the parameters to suppress the Schuler oscillation and the attitude errors caused by the acceleration of the carrier.