Velocity updating typically involves integration of the transformed specific force and gravity Coriolis velocity increments. If the angular rate and specific force vectors maintain fixed directions relative to a frame, updating the velocity in that frame will be straightforward. In practice, the coning angular rate and sculling specific force vectors cause a calculation error in velocity updating on the navigation frame. Thus, the development of sculling compensation algorithms for the reduction of the sculling error is necessary. In this study, a new method for the propagation of vehicle velocity is proposed. This method utilizes an auxiliary frame that slews along with the angular rate and specific force vectors, which remain fixed in the auxiliary frame. This transforms and integrates the specific force vector in this auxiliary frame such that it is error-free. Additionally, the updated velocity can be obtained by translating the above results to the navigation frame, thereby...

中文翻译：

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捷联惯导系统的改进速度更新算法

速度更新通常涉及转换的比力和重力科里奥利速度增量的积分。如果角速度和比力矢量相对于框架保持固定方向，则更新该框架中的速度将很简单。在实践中，圆锥角速率和划桨比力矢量在导航框架上的速度更新中引起计算误差。因此，有必要开发用于减少划痕误差的划痕补偿算法。在这项研究中，提出了一种新的车速传播方法。该方法利用一个辅助框架，该辅助框架与保持固定在该辅助框架中的角速度和比力矢量一起旋转。这样就可以将特定的力矢量变换并整合到该辅助框架中，从而确保无误差。此外，可以通过将上述结果转换为导航框来获得更新的速度，从而...