文章摘要
引用本文:王亚,吴文启,王茂松.采样量化与滤波对圆锥补偿算法影响对比分析[J].导航与控制,2015,(5):66-72 本文二维码信息
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采样量化与滤波对圆锥补偿算法影响对比分析
Influence Comparison of Sampling Quantization and Filteringfor Coning Compensation Algorithms
  
DOI:
中文关键词:  圆锥算法  采样量化  低通滤波  更新频率
English Keywords:coning algorithm  sampling quantization  low-pass filter  update frequency
基金项目:
作者单位
王亚 国防科技大学机电工程与自动化学院 
吴文启 国防科技大学机电工程与自动化学院 
王茂松 国防科技大学机电工程与自动化学院 
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中文摘要:
      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。
English Summary:
      In the paper, the influence on attitude errors caused by sampling quantization of gyros’angular increments is analyzed. Three algorithms, single sample algorithm and uncompressed frequency-series(FS) coning algorithm of three-sampling as well as explicit frequency shaping(EFS) algorithm of three-sampling, are analyzed and compared under coning environments. Additionally, theoretical equation is deduced relating to the variances of quantization errors and attitude errors. It is shown from the derived formula and results of Monte-Carlo simulation that low-pass filtering and higher attitude update frequency can decrease the influence on attitude error caused by sampling quantization error, apart from increasing resolution of gyros’angular increments by pulse subdivision technique.
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