Errors Comppensation of Attitude and Heading Reference System at Object Swaying
The algorithm of accuracy increasing is developed for orientation system - strapdown Attitude and Heading Reference System (AHRS) at its installation on ships or other carrier objects with known distance from swaying center. The proposed algorithm allows to compensate AHRS errors caused by accelerations at object swaying, in autonomous mode where AHRS sensors (accelerometers and rate sensors) are used only. Accuracy of these errors compensation is evaluated. At this the proportional-integral variant of rate sensors correction from accelerometers is considered. Formulas for estimation of residual error of AHRS with proposed algorithm depending on AHRS sensors performance, parameters of AHRS correction circuit, swaying parameters, accuracy of AHRS position determination relative to the swaying center are derived. Experimental test results are shown that confirm essential decreasing of AHRS errors at swaying (in 4 times) when proposed algorithm is applied. Calculated estimates of AHRS errors coincide with the test results.