关键词: 控制科学与技术, 对偶四元数, 捷联惯性导航算法, 圆锥误差补偿算法, 划船误差补偿算法, 梯形积分方法

Abstract: In order to improve the precision of the strapdown inertial navigation algorithm based on dual quaternion in the high dynamic environment, a trapezoid digital integral algorithm is applied to compensate the coning and sculling errors, which optimizes the attitude and velocity calculating algorithm and improves the calculating precision of the strapdown inertial navigation algorithm. During a sampling period of gyroscope and accelerometer, the angular rates of gyroscope outputs at previous and current times are both integrated by using the trapezoid digital integral algorithm, and the integral angle increment is used for the coning error compensation. The accelerometer outputs at previous and current times are integated by using the trapezoid digital integral algorithm, and the integral velocity increment and the integral angular increment are used for the sculling error compensation. Through the simulation of multi-group dynamic tracks, it is shown that the improved coning and sculling error compensation algorithms adopting the trapezoid digital integration have higher navigation precision than the traditional rectangular digital integration method when the inputs are angular rate and acceleration. The dynamics of the track is higher, and the performance advantage of the improved algorithm is more obvious. The analysis and comparison of kinematic vehicle experimental results further verify the performance advantage of the proposed improved algorithm.Key

Key words: controlscienceandtechnology, dualquaternion, strapdowninertialnavigationalgorithm, coningerrorcompensationalgorithm, scullingerrorcompensationalgorithm, trapezoiddigitalintegralalgorithm