A Novel Attitude Algorithm for 12 Accelerometer based GFINS Using Hermite Interpolation

摘要：

A novel attitude algorithm for attitude matrix computing is proposed in order to alleviate reconstruction errors of discrete angular rates in a 12 accelerometer based Gyroscope-Free Strapdown Inertial Navigation System(GFINS).Different from usual attitude algorithms which use only angular rates , the new algorithm combines angular rate with angular acceleration.3-order Hermite interpolation method(H-method) substitutes linear interpolation(L-method) to reconstruct the discrete angular rates. With the reconstructed angular rates, attitude matrix can be determined. Basic steps of new algorithm was analyzed ,and simulation experiments based on typical coning motion were done. Results show that the precision of new algorithm improves by more than 45％.

关键词： Gyroscope-Free Attitude Matrix Interpolation Hermite

作者: Qin Fang-Jun Xu Jiang-Ning Li An

作者单位: Electrical Engineering and Information Engineering Naval University of Engineering Wuhan, 430033,Chi Office of R&D Naval University of Engineering Wuhan, 430033,China

会议类型: 国际会议

会议名称: 2010 International Conference on Measuring Technology and Mechatronics Automation(ICMTMA 2010)(2010年检测技术与机电自动化国际会议)

会议地点: 长沙

会议语种:英文

页码: 214-217

在线出版日期: 2010-03-13（万方平台首次上网日期，不代表论文的发表时间）