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根据机械抖动式激光陀螺捷联惯性系统的角速率以及角增量输出原理,提出了一类利用角速率及其硬件积分角增量输入的新圆锥误差补偿算法,即硬件增强角速率输入圆锥算法.在分析经典圆锥运动误差基础上,给出了新算法的旋转矢量通式,并推导了这类圆锥补偿基本算法及其优化算法补偿系数通式.对新算法误差主项和补偿系数的规律性分析以及进一步的仿真结果表明,硬件增强角速率输入算法具有较高的精度,是提高角速率输出捷联惯导系统姿态算法精度的一种新思路.
According to the angular velocity and angular increment output principle of the mechanical dithering laser gyro strapdown inertial system, a new type of cone error compensation algorithm using angular rate and incremental input of its hardware integral angle is proposed, namely the hardware-enhanced angular rate input cone algorithm Based on the analysis of the classic coning motion error, the general formula of the rotation vector of the new algorithm is given, and the basic algorithm of this kind of cone compensation and its general formula of the compensation coefficient of the optimization algorithm are deduced. The results of the analysis and further simulations show that the hardware-enhanced angular velocity input algorithm has higher accuracy and is a new idea to improve the accuracy of the angular rate output SINS attitude algorithm.