Sculling compensation in strapdown inertial navigation systems

摘要

The invention is a method and apparatus for compensating for sculling in a strapdown inertial navigation system. The method operates on a sequence of inputs ΔV_B(n) derived at times nΔt from the outputs of one or more accelerometers. Separately compensated quantities ΔV_Bc(m,p) calculated at times (pJ+½)Δt for M values of m are obtained by summing ${\mathit{\text{A(m,k)ΔV}}}_{\mathit{\text{B}}}\mathit{\text{(pJ-j-k)}}\mathop{\mathrm{image}}$ over k from 0 to K-1 and over j from 0 to J-1 where the constants A(m,k) are chosen to minimize sculling error in the individual ΔV_Nc(m,p) quantities where ΔV_Nc(m,p) is the representation of ΔV_Bc(m,p) in the navigation frame of reference. The final compensated quantity ΔV_Bc(p) is obtained by summing B(m)ΔV_Bc(m,p) over m where the constants B(m) are chosen to minimize sculling error in ΔV_Nc(p) where ΔV_Nc(p) is the representation of ΔV_Bc(p) in the navigation frame of reference.