Strapdown Inertial Navigation System Attitude Algorithm with Gibbs Oscillation Removal in Gyro Signal Reconstruction

摘要

In order to improve integration precision in attitude algorithm of Strapdown Inertial Navigation System (SINS), reconstruction method for gyro angular rate signals using Fourier orthogonal function bases is adopted. Because values of gyro angular rate on reconstruction interval ends are usually not equal, signal reconstruction will induce obvious Gibbs oscillations. In a view of function transformation, a new method to remove the oscillations is proposed, which doesn't extend signal length, and is convenient for integration calculation. Under condition of typical coning motion, the attitude algorithm with signal reconstruction and Gibbs oscillation removal is simulated compared with regular three-sample algorithm and optimized three-sample algorithm. Results show that our method has advantage of better precision.