高动态载体高精度捷联惯导算法

摘要

The accuracy of strap-down inertial navigation system(SINS) is crucial to navigation system.With the improvement of computer technologies, the output rate of inertial measurement unit(IMU) may restrict the periods of SINS algorithm.In this paper, the unified differential equations of attitude, velocity and position and a new SINS algorithm based on Fourth-order Runge-Kutta algorithm are developed.The SINS algorithm only needs one output of gyros per update, and reduces the limit of output rate of gyros.The experiment using a semi-physical simulation system based on DSP shows that the accuracy of SINS has been improved by 50％ by using the algorithm in high dynamic environment.The algorithm has important engineering application value.%捷联惯导系统的精度是导航的关键.传统的捷联惯导算法受惯性传感器更新速率限制,其精度和实时性在高动态下受到极大影响.在研究传统捷联惯导算法的基础上,建立了统一的捷联惯导微分方程,并提出了基于一次采样的四阶龙格库塔捷联算法,降低了惯性器件采样频率对捷联解算周期的限制.利用设计的基于DSP的半物理仿真系统验证表明,该算法能有效满足高动态下捷联惯导算法的实时性要求,定位精度提高约1倍,具有重要的工程应用价值.