英语翻译Fig.2 shows the INS process..There are two main phases for INS operation:the alignment phase and the navigation phase.The navigation phase starts from the initial velocity,position and attitude.The process for determining these INS initia

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英语翻译Fig.2 shows the INS process..There are two main phases for INS operation:the alignment phase and the navigation phase.The navigation phase starts from the initial velocity,position and attitude.The process for determining these INS initia

英语翻译Fig.2 shows the INS process..There are two main phases for INS operation:the alignment phase and the navigation phase.The navigation phase starts from the initial velocity,position and attitude.The process for determining these INS initia
英语翻译
Fig.2 shows the INS process..There are two main phases for INS operation:the alignment phase and the navigation phase.The navigation phase starts from the initial velocity,position and attitude.The process for determining these INS initial conditions is called alignment.Any errors in either the alignment phase or the navigation phase will be integrated and will propagate over time.These errors determine the performance and the navigation accuracy of the INS.INS error models serve for the error analysis and the implementation of a data fusion filter in the INS algorithms [10].In the literature there are two approaches to the derivation of INS error models [11]:the phi-angle approach (or the true frame approach) and the psi-angle approach (or the computer approach).It has been shown that the models from these two approaches are equivalent and yield identical results [12–14].Most of the literature for INS modeling makes the assumption that all perturbation attitude errors are small angles.However,in many cases,this small angle assumption will not hold.For low cost inertial measurement whose sensitivity is not enough to measure the earth rate,the corresponding attitude error in both the phi-angle model and the psi-angle model could be up to ±180°making the small angle approximation not valid.Consequently,the INS error models with small angle assumption make the navigation system of low cost IMU inaccurate and unstable.This motivated the development of INS error model and navigation algorithm for low cost IMU in this paper.

英语翻译Fig.2 shows the INS process..There are two main phases for INS operation:the alignment phase and the navigation phase.The navigation phase starts from the initial velocity,position and attitude.The process for determining these INS initia
图2显示了移民局的过程..有两个主要阶段的惯性操作：路线相和导航阶段.该卫星的阶段开始从最初的速度,位置和姿态.为确定这些惯导系统的初始条件,是所谓的校准过程.无论是在调整阶段或航行阶段的任何错误将被整合,并会随着时间的推移传播.这些错误决定的性能和惯性导航的准确性.惯导系统误差模型的误差分析和算法在惯导系统数据融合滤波器实施服务[10].在文献中有两种方法对惯导系统的误差模型,推导[11]：在披角的方法（或真实的框架法）和PSI的角的方法（或计算机方法）.它已经表明,这两种方式的模型是等价的,并产生相同的结果[12-14].惯导系统建模的文学最令人扰动的假设,所有的错误都是小角度的态度.然而,在许多情况下,这个小角度假设将不成立.对于低成本惯性测量,其灵敏度是不够的测量地球率,均披角度模型和psi的角模型的相应姿态误差可达到± 180 °,使小角度近似无效.因此,小角度假设惯导误差模型,使导航系统低成本IMU的不准确和不稳定的.这在本文的动机惯导系统误差模型和导航低成本IMU的算法开发.
可以的话就给我一点分咯~~

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