| 1. | Optimal two - sample iteration algorithm for sins attitude updating
捷联惯导姿态更新的双子样二次迭代优化算法研究 |
| 2. | In the thesis , the fundamental theory of the sins is introduced first , including the principle , the attitude updating algorithms and the navigation calculations
本文首先介绍了捷联惯导的基本理论，包括捷联惯导系统的工作原理、姿态更新和导航计算。 |
| 3. | Then we primarily focused on the attitude updating algorithms , the velocity updating algorithms and the position updating algorithms for sins in highly dynamic environments
然后从工程应用的角度出发，研究了高动态环境下捷联惯导系统的姿态算法、速度算法，位置算法。 |
| 4. | The conclusion was drawn that the chosen initial alignment algorithm and attitude updating algorithm can meet the requirement of torpedo sins , and it is shown that the designed torpedo project is feasible
得出了所选用的初始对准和捷联矩阵更新算法完全满足系统要求的结论，说明为某型鱼雷捷联惯性系统设计的方案是可行的。 |
| 5. | 2 . the updating algorithm of strapdown matrix is one of the crucial techniques of sins . there are several kinds of attitude updating algorithms of sins , such as direction cosine algorithm and quaternion algorithm
捷联矩阵更新算法是捷联系统的关键技术之一，捷联惯导系统姿态算法有欧拉角法、方向余弦法、四元数法和圆锥补偿算法等几种方法。 |
| 6. | The following important work has been done : ( 1 ) some special problems of rate - bias laser gyro were analysed . the problems include modulation and demodulation of the output and algorithm of the attitude updates ; ( 2 ) the integrated navigation system with the fault tolerance property which equipped with many navigation equipments as sins , gps , dvs , ads , mg , vg is designed , and compared with that of ckf via simulations ; ( 3 ) the theories and methods of system level fault detection apply to federated filtering is investigated ; ( 4 ) the problem about using the fused information of sins based on rate - bias laser gyroscope / dynamical tune gyroscope to realize the component level hard fault interactions detection through a back - propagation neural network is discussed
主要研究工作有：研究了速率偏频激光捷联惯导的陀螺测量信号的解调算法；设计了在速率偏频激光捷联惯导、 gps 、多普勒雷达、大气数据系统、磁航向仪及垂直陀螺配备条件下联邦滤波组合导航系统，对联邦滤波器和集中滤波器的性能做了仿真对比分析；研究了适用于联邦滤波器的系统级故障理论和方法；探讨了利用速率偏频激光捷联惯导挠性捷联惯导陀螺的混合测量信息，通过神经网络实现硬故障交互检测的方法。 |
| 7. | The attitude updating algorithms were investigated systematically in this paper . on the basis of the quaternion algorithm the coning compensation algorithms and the improved coning compensation algorithms the attitude updating algorithms were deduced when the gyro outputs are angular velocity . existing updating algorithms analyzed the accuracy of the algorithm , i . e
本文对捷联惯性导航系统捷联矩阵的更新算法进行了系统的研究，详细地分析了四元数法、圆锥补偿算法、及在此基础上发展起来的利用前一时刻陀螺仪输出的改进圆锥补偿算法。 |
| 8. | The theory of sins is described firstly , including the principle of work , the attitude update algorithms and the navigation calculations . and the algorithms of the attitude matrix are discussed in detail . with the many problems to be considered and solved in engineering , the following works have been done : 1
本文首先系统介绍了捷联惯导系统的基本理论，包括捷联惯导系统的工作原理、捷联惯导系统的姿态更新和导航计算，其中重点介绍了姿态矩阵的求解算法。 |
| 9. | The methodology and innovation in this paper is : ( 1 ) the problems which include modulation and demodulation of the rate biased laser gyro ' s output , algorithm of attitude updates , etc . are analysed . ( 2 ) the component level fault interactions detection of sins based on rate - bias laser gyro / dynamical tune gyroscope by using artificial neural network is investigated
具有创新性的工作有：推导了速率偏频激光捷联陀螺测量信息的解调算法；应用神经网络解决了速率偏频激光捷联惯导挠性捷联惯导陀螺间的硬故障交互检测。 |
