| 摘要 |
<p>The invention is a method and apparatus for compensating for sculling in a strapdown inertial navigation system. The method operates on a sequence of inputs DELTA VB(n) derived at times n DELTA t from the outputs of one or more accelerometers. Separately compensated quantities DELTA VBc(m,p) calculated at times (pJ+1/2 ) DELTA t for M values of m are obtained by summing A(m,k) DELTA VB(pJ-j-k) over k from 0 to K-1 and over j from 0 to J-1 where the constants A(m,k) are chosen to minimize sculling error in the individual DELTA VNc(m,p) quantities where DELTA VNc(m,p) is the representation of DELTA VBc(m,p) in the navigation frame of reference. The final compensated quantity DELTA VBc(p) is obtained by summing B(m) DELTA VBc(m,p) over m where the constants B(m) are chosen to minimize sculling error in DELTA VNc(p) where DELTA VNc(p) is the representation of DELTA VBc(p) in the navigation frame of reference. <IMAGE></p> |
