捷联惯导量化误差建模研究.pdf

12 6 2004 12 1005-6734(2004)06-0013-05 U666.1 A Modeling of Inertial Sensor Quantization Error of SINS with a Locally Level Coordinate Frame GU Dong-qing, QIN Yong-yuan (Department of Automatic Control, Northwestern Polytechnical University, Xi’an 710072, China) Abstract: The paper analyzed the modeling of inertial sensor quantization noise, and the attitude, velocity, and position error equations of SINS are presented for locally level coordinate frame, in which inertial sensor quantization noise is presented. The discrete difference error equation form is used to develop values for power spectral densities of inertial sensor quantization noise terms that are taken as white noise terms in differential error propagation equations. Numerical examples are provided to assess the quantization noise-induced equivalent random walk for proper and improper quantization noise modeling. Under the different update periods of navigation parameters, which is from 40 Hz to 1 kHz, the quantization noise-induced equivalent random walk coefficient of improper quantization noise modeling is from 57 times to 1414 times as much as that of proper quantization noise modeling. Key words: SINS; quantization error; error equations; power spectral density Savage 1980 14 2004 12