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一.连续与离散模型的状态转移方程现代惯性导航系统实际上是一个多变量计算机控制系统。导航计算机接受从测量装置(例如加速度计、计程仪等)来的信息,对这些信息进行必要的处理,并按照所需的控制规律对陀螺进行修正,对导航参数进行推算。这种控制规律,一般在导航系统的设计中是以数学模型的形式给出。怎样把数学模型借助于合适的控制算法,变为计算机能够实现的基本运算,是导航系统设计的不可缺少的步骤。
I. The State Transfer Equation for Continuous and Discrete Models The modern inertial navigation system is actually a multivariable computer control system. The navigation computer accepts the information from the measuring device (such as accelerometer, log, etc.), processes the information as necessary, corrects the gyro according to the required control law, and estimates the navigation parameters. This control law, usually in the navigation system design is given in the form of mathematical models. How to use the mathematical model with the help of the appropriate control algorithm into a computer can achieve the basic operation of the navigation system design is an indispensable step.