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针对陀螺直接输出角速率且通带内增益不一致(频率特性),而传统角速率输入圆锥补偿算法要求输入理想的角速率,提出了一种考虑陀螺频率特性的角速率输入圆锥补偿算法.推导了圆锥运动情况下姿态更新周期内理想旋转矢量增量和实际姿态算法计算的旋转矢量增量,以最小化理想旋转矢量增量和计算旋转矢量增量之间非周期项的差异为计算圆锥误差补偿系数的准则,最优补偿系数可以看成是采用理想角速率输入的圆锥补偿算法系数与考虑频率特性时对理想圆锥补偿算法系数修正的和.得到了公式化求解考虑频率特性的各子样算法最优系数的方法.仿真结果表明,所提出的算法比传统角速率输入圆锥补偿算法在精度上有明显提高.
In view of the direct output angular rate of the gyroscope and the inconsistencies in the gain of the passband (frequency characteristics), the traditional angular rate input cone compensation algorithm requires the input of the ideal angular rate and proposes an angular rate input cone compensation algorithm considering the gyro frequency characteristics. Conical motion compensation in the case of conical motion, and the rotation vector increment calculated by the actual pose algorithm in order to minimize the difference between the ideal rotation vector increment and the calculation of the non-periodic term between the rotation vector increment to calculate the conical error compensation The criterion of coefficient and the optimal compensation coefficient can be regarded as the sum of the correction coefficients of the conical compensation algorithm with the ideal angular rate input and the compensation coefficients of the ideal coning algorithm when considering the frequency characteristics. The optimal coefficient method.The simulation results show that the proposed algorithm has higher accuracy than traditional angular rate input cone compensation algorithm.