In order to alleviate reconstruction errors and improve the precision in attitude algorithm of all-accelerometer based Inertial Navigation System(also called Gyroscope-Free Inertial Navigation System,GFINS),a new sche...In order to alleviate reconstruction errors and improve the precision in attitude algorithm of all-accelerometer based Inertial Navigation System(also called Gyroscope-Free Inertial Navigation System,GFINS),a new scheme of 13 accelerometer based GFINS is presented.And a novel attitude algorithm for attitude matrix computing is proposed.It combines angular rates with angular accelerations,which are obtained from the specially designed 13-accelerometer based GFINS.Hermite interpolation method is used to reconstruct the discrete angular rates.With the reconstructed angular rates,attitude matrix can be determined.Basic steps of new algorithm are analyzed,and simulation experiments based on typical coning motion are made.The results show that the precision of new algorithm is improved by more than 40%.Different from usual attitude algorithms which use only angular rates,the new attitude algorithm use more information and can achieve better precision.展开更多
文摘In order to alleviate reconstruction errors and improve the precision in attitude algorithm of all-accelerometer based Inertial Navigation System(also called Gyroscope-Free Inertial Navigation System,GFINS),a new scheme of 13 accelerometer based GFINS is presented.And a novel attitude algorithm for attitude matrix computing is proposed.It combines angular rates with angular accelerations,which are obtained from the specially designed 13-accelerometer based GFINS.Hermite interpolation method is used to reconstruct the discrete angular rates.With the reconstructed angular rates,attitude matrix can be determined.Basic steps of new algorithm are analyzed,and simulation experiments based on typical coning motion are made.The results show that the precision of new algorithm is improved by more than 40%.Different from usual attitude algorithms which use only angular rates,the new attitude algorithm use more information and can achieve better precision.
