摘要
针对传统无陀螺捷联惯导系统角速度求解复杂,解算效率低,惯性元件安装精度要求高等问题,提出一种新型的无陀螺捷联惯导导航方案,将8-UPS型并联式六维加速度传感器作为其惯性元件,直接测量出运载体的六维绝对加速度。基于矢量力学理论,推导了其惯导基本方程;通过数值积分运算来提取载体的线运动参量;运用空间几何理论建立姿态方程,实时更新捷联矩阵以获取载体的角运动参量,从而完成了导航建模与解算。仿真结果表明该系统能满足航行体中精度实时导航的要求,是有效可行的。与同类导航相比,该系统具有结构紧凑、解算效率高、物理模型误差敏感性低等优势。
Traditional gyro-free strapdown inertial navigation system（SINS） has such disadvantages as complicated angular velocity decoupling, inefficient navigation parameters calculation, and harsh mounting requirements of inertial sensor, etc. To solve these problems, a new type of gyro-free SINS was put forward, in which an 8-UPS six-axis accelerometer of parallel type was taken as the inertial component to measure the carrier＇s absolute six-axis acceleration. The basic inertial navigation equation was derived based on the principle of vector mechanics. The carrier＇s line motion parameters were extracted through numerical integration. In addition, the attitude equation was established by geometric theory to real-time update the strapdown matrix. In this way, the navigation modeling and calculating are realized. Simulation results show that the new system is feasible and effective in satisfying the real-time moderate-accuracy navigation requirements. Compared with other similar navigations, the new gyro-free SINS has such advantages as compact structure, high calculation efficiency, and low sensitivity to physical model error, etc.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2015年第3期303-310,共8页
Journal of Chinese Inertial Technology
基金
国家自然科学基金(51175263
51405237)
航空科学基金(20130852017)
南京航空航天大学研究生创新基地(实验室)开放基金(kfjj201436)
中央高校基本科研业务费专项基金
江苏省高校自然科学研究资助(14KJB460020)
关键词
无陀螺捷联惯导
六维加速度传感器
导航解算
惯导基本方程
姿态更新
gyro-free SINS
six-axis accelerometer
navigation calculation
basic inertial navigation equation
attitude update
