Research on the Optimal Two-sample Scrolling Compensation Algorithm for SINS Position Updating

In the paper, the scrolling compensation algorithm in position updating of strapdown inertial navigation system is researched. The position increment algorithm for position updating for strapdown inertial navigation system is derived and the navigation frame of strapdown inertial navigation system is geographic frame. The multi-sample, two-sample and three-sample, scrolling compensation algorithms are derived by means of cure fitting. And then the two-sample scrolling compensation algorithm is optimized under the condition of the sculling movement, which is the typical environment causing the large scrolling compensation term, and the optimal two-sample scrolling compensation algorithm is derived. Simulation results show that the precision of the optimal two-sample scrolling compensation algorithm is higher than the two-sample scrolling compensation algorithm and the calculation amount of the optimal two-sample scrolling compensation algorithm is the same as the two-sample scrolling compensation algorithm.