The compensation optimal algorithm of angular attitude plays a very important role in the output operation model of the dynamic slant calibrating sensor.The performance of the algorithm determines the accuracy and real-timeness of output.This paper designs an attitude algorithm for the strapdown system taking advantage of the fact that the contributions to the coning compensation by the cross products of the two incremental angles having equal time intervals are the same under the condition of coning movement.If the coning compensation accuracy is the same,the calculation burden of this algorithm will be decreased.A compensation algorithm is also introduced,by which the angular increment in the former coning compensation period reduces the operation time and improves the compensating accuracy.%姿态角补偿的优化算法在动态倾斜校准传感器的输出运算模型中有着重要作用,算法的优劣直接关系到测量精度和输出的实时特性。文中利用在圆锥运动条件下,具有相同时间间隔的两个角增量的叉乘,对圆锥补偿的贡献相等的特点,设计了一种捷联系统姿态算法,在圆锥补偿获得相同精度的情况下,此算法的计算量较少。同时,利用此特点,推导出利用前一圆锥补偿周期的角增量进行圆锥补偿的算法,缩短了运算时间、提高了补偿精度。
展开▼
