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研究了圆锥运动情况下陀螺角增量采样量化对姿态误差的影响,对比分析了单子样算法、三子样扩展频率级数算法和三子样显式频率整形算法,理论推导给出陀螺角增量分辨率造成的量化误差方差和圆锥算法姿态误差方差间关系的理论表达式。推导公式及蒙特卡罗仿真结果表明,除通过脉冲细分提高陀螺角增量分辨率外,低通滤波和提高姿态更新频率也可减小量化误差对姿态解算的误差影响。
The influence of the increment of the gyro angle increment on the attitude error under conical motion is studied. The single-subarray algorithm, the three-subarray extended frequency order algorithm and the three-subarray explicit frequency shaping algorithm are comparatively analyzed. The theoretical derivation gives the gyro angle increment The theoretical expression of the relationship between the variance of quantization error and the variance of attitude error of cone algorithm. The deduced formulas and Monte Carlo simulation results show that in addition to increasing the resolution of the gyro angle by pulse subdivision, low pass filtering and increasing the frequency of attitude updating can also reduce the effect of quantization error on the attitude solution.