A coning error compensation method and system based on flow-type rotation vector

Abstract

The invention provides a method and system for coning error compensation based on flow-type rotation vector. The method includes: analyzing the coning error generation mechanism of laser inertial navigation based on the attitude transfer matrix of laser inertial navigation; and establishing a mathematical model of coning error under the condition of coning motion , deduce the flow-type rotation vector structure for compensating the coning error; determine the coning error compensation term coefficients of different sub-samples in the flow-type rotation vector structure; based on the angle increment of the current sampling period and the angle increment of the historical sampling period, use the flow The rotary vector structure realizes the online compensation of the coning error. The invention provides a flow-type rotation vector algorithm based on laser gyroscope angle incremental output, which ensures the compensation accuracy of the laser inertial navigation system cone error and at the same time increases the update frequency of the system attitude, reduces the cone error introduced by the algorithm, and finally realizes the improvement of the system attitude solution. frequency and accuracy purposes.

Description

technical field [0001] The invention relates to the field of laser inertial navigation, and more specifically, to a method and system for compensating coning errors based on flow-type rotation vectors. Background technique [0002] Modern warfare puts forward higher requirements for the combat capabilities of warship weapon fire control, radar detection and other systems. As the attitude reference of the above-mentioned systems, ship laser inertial navigation should have higher attitude accuracy. In the existing laser inertial navigation attitude algorithm, the main thing that limits the system attitude accuracy is the attitude non-exchangeable error (ie, cone error) compensation algorithm. [0003] Based on the angular increment information output by the gyroscope, the multi-sample rotation vector algorithm is used to realize coning error compensation, which is the mainstream technology for laser inertial navigation system to achieve high-precision attitude update. The cla...

AI Technical Summary

Problems solved by technology

The classic multi-sample rotation vector algorithm, such as figure 1 As shown, the coning error compensation accuracy is improved by increasing the number of sub-samples of the angular increment, but there is still a decrease in the update frequency of the system attitude due to the increase in the number of sub-samples, and the decrease in the update frequency of the attitude increases the coning error introduced by the algorithm. In the end, the goal of improving the accuracy of system attitude calculation cannot be achieved, which limits its development potential in practical engineering applications.

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