An Attitude Correction Method of Spinning Bodies Based on Radial Gyroscopes

Shuang-biao Zhang ； Xing-cheng Li ； Jia-qi Yu

《電腦學刊》 31卷5期 (2020/10) Pp. 290-301

https://doi.org/10.3966/199115992020103105022

摘要

The attitude error originated from the characteristic error of longitudinal gyroscopes mounted in spinning and flying bodies is diverging rapidly and far larger than that originated from the attitude algorithm error. To address this problem, an attitude correction method of spinning bodies based on radial gyroscopes is proposed in this paper. The effect of gyroscope measurement error is deduced based on the angular motion model of spinning bodies. The attitude correction is deduced in detail and the attitude update process is provided as well. The simulations are made considering stochastic error, different spinning speeds and different magnitudes of characteristic error. The results show that the gyroscope measurement error has a big effect on attitude update and the validity of the attitude correction method is verified by the improved accuracy.

關鍵字

attitude correction ； coning environment ； gyroscope measurement error ； high spinning speed ； spinning bodies