Independent error compensation method of attitude and heading system based on motion constraints
In order to improve the attitude determination accuracy of vehicle strapdown attitude and heading system in long distance,the on-line independent error compensation of attitude and heading system is proposed by using the motion constraints of the vehicle.Firstly,the sensor errors and installation errors of the attitude and heading system are analyzed and modeled.Then various errors of the attitude and heading system are selected as the system state of error compensation filtering,and the corresponding system state equation is established.Secondly,according to the motion characteristics of special vehicles such as launch vehicles,using the vehicle motion constraints,the projection components of the velocity output of attitude and heading system in the transverse and vertical directions of the vehicle body coordinate system are taken as the measurement of the error compensation filtering,and the measurement equation of the error compensation filtering is derived.Finally,kalman filter is used to design the on-line estimation algorithm of attitude and heading system errors.Experiment results show that the proposed method can independently and effectively compensate the accumu-lated errors of the attitude and heading system.After 1 200 s of vehicle experiment,the heading and attitude errors of the system always keep effective convergence,in which the heading accuracy is better than 3.4',and the horizontal attitude accuracy is better than 0.4'.
vehicle attitude and heading systemerror compensationmotion constraintKalman filter
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