基于零速的航姿误差补偿方法研究

Aiming at the problem of slow convergence of the attitude system error over time, this paper proposes an error compensation method of attitude and heading based on zero velocity. Taking a stationary base or a vibrating base as operating conditions, the attitude error equations and the velocity error equations of attitude and heading reference system are established. Based on the zero velocity of the carrier, the velocity outputs of attitude and heading reference system are chosen as the observation, and the filtering algorithm of attitude and heading error compensation is designed and simulated by computer and offline. The simulation results show that the heading accuracy is better than ±4.2' after compensation, the horizontal attitude accuracy is better than ±0.5', which is obviously better than the accuracy of the system without compensation. On the other hand, the off-line verification results show that the heading accuracy is better than 2.2', and the horizontal attitude accuracy is better than ±0.7' after compensation. Therefore, it is concluded that the accuracy of attitude and heading reference system is improved effectively, and the system errors are kept effective convergence all the time.