Improved Coning and Sculling Error Compensation Algorithms Based on Dual Quaternion for Strapdown Inertial Navigation System

XING Li;XIONG Zhi;LIU Jian-ye;HANG Yi-jun

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  • Sponsored by: China Association for Science and Technology (CAST)

    Editor-In-Chief: Xu Yida

    ISSN 1000-1093

    　

  • Hosted By: China Ordnance Society

    Published By: Acta Armamentarii

    CN 11-2176/TJ

Acta Armamentarii, a Chinese monthly journal, was first published in 1979. The journal is supervised by China Association for Science and Technology, sponsored by China Ordnance Society，and edited and published by Editorial Board of Acta Armamentarii. The Journal is included in all important domestic databases，and also collected by Engineering Index (EI, USA), Chemical Abstracts (CA, USA), Science Abstracts (SA, UK）, Abstract Journal (AJ, Russia), and Current Bibliography on Science and Technology(CBST).Acta Armamentarii has been selected into the journal Of Ordnance Science and Technology (Weapons Industry) Field Of High Quality Scientific and Technological Periodical Classification Catalogue (2022 edition), ranking T1, and the journal of Automotive Engineering Field of High Quality Scientific and technological Periodical classification Catalogue, ranking T2.
Acta Armamentarii ›› 2017, Vol. 38 ›› Issue (7) : 1336-1347. DOI: 10.3969/j.issn.1000-1093.2017.07.012
Paper

Improved Coning and Sculling Error Compensation Algorithms Based on Dual Quaternion for Strapdown Inertial Navigation System

  • XING Li, XIONG Zhi, LIU Jian-ye, HANG Yi-jun
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Abstract

In order to improve the precision of the strapdown inertial navigation algorithm based on dual quaternion in the high dynamic environment, a trapezoid digital integral algorithm is applied to compensate the coning and sculling errors, which optimizes the attitude and velocity calculating algorithm and improves the calculating precision of the strapdown inertial navigation algorithm. During a sampling period of gyroscope and accelerometer, the angular rates of gyroscope outputs at previous and current times are both integrated by using the trapezoid digital integral algorithm, and the integral angle increment is used for the coning error compensation. The accelerometer outputs at previous and current times are integated by using the trapezoid digital integral algorithm, and the integral velocity increment and the integral angular increment are used for the sculling error compensation. Through thesimulation of multi-group dynamic tracks, it is shown that the improved coning and sculling error compensation algorithms adopting the trapezoid digital integration have higher navigation precision than the traditional rectangular digital integration method when the inputs are angular rate and acceleration. The dynamics of the track is higher, and the performance advantage of the improved algorithm is more obvious. The analysis and comparison of kinematic vehicle experimental results further verify the performance advantage of the proposed improved algorithm.Key

Key words

controlscienceandtechnology / dualquaternion / strapdowninertialnavigationalgorithm / coningerrorcompensationalgorithm / scullingerrorcompensationalgorithm / trapezoiddigitalintegralalgorithm

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XING Li, XIONG Zhi, LIU Jian-ye, HANG Yi-jun. Improved Coning and Sculling Error Compensation Algorithms Based on Dual Quaternion for Strapdown Inertial Navigation System. Acta Armamentarii. 2017, 38(7): 1336-1347 https://doi.org/10.3969/j.issn.1000-1093.2017.07.012

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第38卷
第7期2017年7月兵工学报ACTA
ARMAMENTARIIVol.38No.7Jul.2017

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