Error Analysis of Classical Strapdown Velocity Integration Algorithms Under Maneuvers

摘要

Using the Taylor series expansion, errors of three classical velocity integration algorithms under maneuvers are derived, in terms of angular rate/specific force and their derivatives. The velocity integration algorithm with the exact rotation compensation term is in error to fourth order in powers of iteration time interval and one order more accurate than that with the approximate rotation compensation term. Therefore, the exact velocity rotation compensation term should be used to replace the approximate rotation compensation term for improved performance under maneuvers. The general velocity integration algorithm based on the simplified versions of rotation and velocity translation vectors is in error to fifth order in powers of iteration time interval. That is, VIAGen is one order more accurate than VIAERC and two orders more accurate than VIAARC. Based on the error equations, all these three velocity integration algorithms could be selected for practical applications according to the inertial sensor accuracy, the algorithm repetition rate, and the anticipated sensor assembly maneuver environment.