gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»10.17285/0869-7035.2016.24.3.003-013gyroscopy-357Research ArticleСтатьиИнтегрированная с магнитным компасом БИНС с вращающимся измерительным модулем на МЭМСMEMS Rotary Strapdown INS with Low-Resolution Rotary EncoderУЦиWuQi

Ци У, аспирант.

ЛайЦзичжоуLaiJizhou

Цзичжоу Лай, доктор наук, профессор.

ЯЦиньYaQin

Я Цинь, аспирант.

ЛюЦзяньеLiuJianye

Цзянье Лю, доктор наук, профессор.

Университет аэронавтики и астронавтики (Нанкин)КитайCollege of Automation Engineering, Nanjing University of Aeronautics and AstronauticsChinaУниверситет аэронавтики и астронавтики (Нанкин).РоссияCollege of Automation Engineering, Nanjing University of Aeronautics and AstronauticsRussian FederationЦзянье Лю, доктор наук, профессор. Университет аэронавтики и астронавтики (Нанкин) КитайКитайCollege of Automation Engineering, Nanjing University of Aeronautics and AstronauticsChina201603122025243313Copyright © У Ц., Лай Ц., Я Ц., Лю Ц., 20252025У Ц., Лай Ц., Я Ц., Лю Ц.Wu Q., Lai J., Ya Q., Liu J.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/357

Статья посвящена двум проблемам, связанным с традиционным алгоритмом определения ориентации в БИНС с вращающимся измерительным модулем на основе микромеханических датчиков (МЭМС). Первая касается накопления погрешности курса, вторая – использования данных датчика угла поворота (ДУ). Для решения этих проблем предлагается усовершенствованный алгоритм определения ориентации в БИНС на МЭМС с использованием данных магнитного компаса/ДУ. Эффективность предложенного алгоритма подтверждается моделированием.

Two problems of conventional attitude algorithm in MEMS rotary SINS are focused on in this paper. One is that the yaw error diverges, and the other is that the highresolution rotary encoder is relied on. In order to solve the problems mentioned, an improved attitude algorithm in MEMS-RSINS aided by compass/rotary encoder is proposed and detailed. Then simulation is conducted to prove the validity of this improved attitude algorithm.

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The authors declare that there are no conflicts of interest present.