基于李理论改进陀螺积分，提升导航系统精度。
Runge-Kutta Approximations for Direct Coning Compensation Applying Lie Theory
- 从经典龙格-库塔法出发构造新型旋转变补偿算法
- 简单情形下可还原为最流行的补偿算法
- 提供生成高阶算法的清晰流程，适合导航系统开发者
陀螺仪测量积分是大多数导航系统的核心任务。现代车辆通常采用捷联式系统，因此在积分过程中需进行旋转变补偿以考虑传感器的旋转。已有多种旋转变补偿算法被提出，本文介绍一类直接基于经典龙格-库塔积分方法构建的新补偿算法。一个简化情形显示该方法可退化为最流行的补偿算法之一，并给出了生成更高阶算法的明确步骤。
原文摘要 · Abstract (English)
The integration of gyroscope measurements is an essential task for most navigation systems. Modern vehicles typically use strapdown systems, such that gyro integration requires coning compensation to account for the sensor's rotation during the integration. Many coning compensation algorithms have been developed and a few are reviewed. This work introduces a new class of coning correction algorithm built directly from the classical Runge-Kutta integration routines. A simple case is shown to collapse to one of the most popular coning algorithms and a clear procedure for generating higher-order algorithms is presented.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。