高動態(tài)環(huán)境下捷聯(lián)慣導的優(yōu)化算法研究.pdf

1、西北工業(yè)大學碩士學位論文高動態(tài)環(huán)境下捷聯(lián)慣導的優(yōu)化算法研究姓名：聶水茹申請學位級別：碩士專業(yè)：檢測技術與自動化裝置指導教師：秦永元20030301ABS薯孫鼉C零Theinertialsensorsofthestrapdowninertialnavigationsystem(SINSaredirectlymountedtothevehMeandthevehicleshighfrequencymotionswillaffecttheacc

2、uracyoftheSINSForexample，thevehicle’SangularandlinearvibrationswillresultintheconingerrorthescullingerrorandthescrollingerrorSOperfectalgorithmsshouldbedesignedteducetheerrorsThusitisakeypointtostudythehighprecisionalgor

3、ithmsforS玳s瓤hi蕊lydynamicenvironmentsInthethesis，thefundamentaltheoryoftheSINSisintroducedfirst，includingtheprincipletheattitudeupdatingalgorithmsandthenavigationcalculationsThenweprimarilyfocusedontheattitudeupdatingalgo

4、rithms，thevelocityupdatingalgorithmsandthepositionupdatingalgorithmsforSINSinhighlydynamicendronmentsThefollowinginvestigationshavebeendone：1Firstly：itisanalyzedthathowtheconingerroroccUrsforSINSinhi曲lydynamicenvironment

5、s。SecondlytheimprovedrotationvectoralgorithmsinthepureconingmotionarediscussedandthecomputingburdeniscomparedwitheachotherLastlycomputersimulationsaleexecutedtotestthealgorithms’performance嗣始resultsshowttmttherotationvec

6、toralgorithmscariimprovetheprecisionoftheattitudecalculationeffectively2。瓤：簿scutlingerrorinthevelocitycalculationisdescribedandthescullingoptimalcompensationalgorithmsarcderivedialthescullingbasemotionenvironment。Fortest

7、ingthescullingcorrectionalgorithms“performanceseveralsimulationsarepracticedandthesimulationresultsshowthatthescullingcompensationterminthevelocityintegrationalgorithmsCannotbeneglectedforthehi醢accuracySINSinhightydyrmmi

8、cenvironments3Thescrolfingerrorinthepositionupdatingcalculatitonisdiscussedandthescrollinger／orcomperaationalgorithmsB轄studiedinthescullingbasemotionenvironmentThesimulationsofthealgorithrnsaleperformedandtheresultsshowt

9、hatthescrollingcorrectiontermshouldbeconsideredtoimprovethepositionaccuracyforthesystemwi懶hjighmresolutionpositionupdatingrequirementsKeywords：StrapdownInertialNavigationSystem(SINS)，ConingErrorScullingErrorScrollingErro