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Strapdown Sculling Velocity Algorithms Using Novel Input Combinations

机译：使用新型输入组合的捷联划桨速度算法

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摘要

Sculling motion is a standard input to evaluate the performance of the velocity algorithm in a highly dynamic environment. Conventional sculling algorithms usually adopt incremental angle/specific force increments or angular rate/specific force as algorithm inputs. However modern inertial sensors have different output types now, which do not correspond to the inputs of those traditional algorithms. For example, some inertial sensors have the integrated angular rate (incremental angle)/specific force outputs or angular rate/specific force increments outputs. Hence the conventional sculling algorithms cannot be easily applied to these situations. A novel sculling algorithm using incremental angle/specific force inputs or angular rate/specific force increments inputs is developed in this paper. The advantage of the novel algorithm is that it can calculate the carrier velocity directly without converting the dimension of inertial sensor outputs values. Theoretical analysis, digital simulations, and a trial study are carried out to verify our algorithm. The results demonstrate that for corresponding types of strapdown inertial navigation systems (SINS) the novel sculling algorithm exhibits better performance than the conventional sculling velocity algorithms.
机译：划桨运动是在高度动态的环境中评估速度算法性能的标准输入。传统的划船算法通常采用增量角度/比力增量或角速率/比力作为算法输入。但是，现代惯性传感器现在具有不同的输出类型，这与那些传统算法的输入不对应。例如，一些惯性传感器具有积分角速度（增量角）/比力输出或角速度/特定力增量输出。因此，常规的划船算法不能容易地应用于这些情况。本文提出了一种使用增量角度/比力输入或角速率/比力增量输入的新型划桨算法。新算法的优势在于，它可以直接计算载波速度，而无需转换惯性传感器输出值的大小。通过理论分析，数字仿真和试验研究来验证我们的算法。结果表明，对于相应类型的捷联惯性导航系统（SINS），新颖的划船算法表现出比常规划船速度算法更好的性能。

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  • 来源
    《Mathematical Problems in Engineering》 |2018年第14期|9823138.1-9823138.9|共9页
  • 作者

    Huang Lei; Li Zhaochun; Xie Fei; Feng Kai;

  • 作者单位

    Nanjing Forestry Univ, Sch Mech & Elect Engn, Nanjing 210037, Jiangsu, Peoples R China|Nanjing Normal Univ, Jiangsu Prov Printing Equipment & Mfg Key Lab 3D, Nanjing 210042, Jiangsu, Peoples R China|Southeast Univ, Sch Instrument Sci & Engn, Nanjing 210096, Jiangsu, Peoples R China;

    Nanjing Forestry Univ, Sch Mech & Elect Engn, Nanjing 210037, Jiangsu, Peoples R China;

    Nanjing Normal Univ, Jiangsu Prov Printing Equipment & Mfg Key Lab 3D, Nanjing 210042, Jiangsu, Peoples R China|Nanjing Normal Univ, Sch Elect & Automat Engn, Nanjing 210042, Jiangsu, Peoples R China;

    Nanjing Forestry Univ, Sch Mech & Elect Engn, Nanjing 210037, Jiangsu, Peoples R China;

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