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首页> 外文会议>Symposium Gyro Technology; 20060919-20; Stuttgart(DE) >Use of Redundant Information in Attitude Determination From Two Vector Observations
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Use of Redundant Information in Attitude Determination From Two Vector Observations

机译：从两个向量观测值确定姿态时使用冗余信息

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摘要

This paper summarizes the authors' results in developing an alternative approach to the use of informational redundancy in a widely met problem of attitude determination from two vector observations. This approach is aimed at the attitude system performance enhancement and is based on using the relationship that should be met by all 12 vectors' components for either (1) sensor errors calibration or (2) reconstruction of one component of one vector (in the case of incomplete composition of sensors or for the period when the input of one sensor is distorted, say, by a vehicle maneuver). In the known publications this relation was used for the sensor outputs checking only. In the paper the usefulness of such approach for the sensor calibration purposes is illustrated as applied to the gimbaled ESG-based INS. It is shown that with this additional relation in hand it became possible to determine all reasonable gyro drift model coefficients as well as the mechanical misalignments. To demonstrate the advantages of using this approach for the reconstruction of one vector component the results of treating two attitude determination problems are presented. One refer to the attitude determination of the airplane by means of accelerometers and magnetometers and the other - to the problem of borehole attitude determination using gyro inclinometer which has no sensor measuring the axial angular rate component.
机译：本文总结了作者在开发一种广泛使用的基于两个矢量观测的姿态确定问题中使用信息冗余的替代方法的结果。此方法旨在提高姿态系统的性能，并且基于以下条件：将所有12个矢量分量都应满足的关系用于（1）传感器误差校准或（2）重构一个矢量的一个分量（在这种情况下传感器的组成不完整或在一个传感器的输入发生扭曲（例如，车辆操纵）的期间）。在已知的出版物中，此关系仅用于传感器输出检查。在本文中，将这种方法用于传感器校准目的的有效性说明为应用于基于万向节的基于ESG的INS。结果表明，有了这种附加关系，就可以确定所有合理的陀螺仪漂移模型系数以及机械失准。为了证明使用这种方法重建一个矢量分量的优势，提出了处理两个姿态确定问题的结果。一种涉及通过加速度计和磁力计确定飞机的姿态，另一种涉及使用陀螺仪倾角仪确定钻孔姿态的问题，该陀螺仪倾角仪没有传感器来测量轴向角速度分量。

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