The sculling error in the velocity calculation is described and the sculling optimal compensation algorithms are derived in the sculling base motion environment . for testing the sculling correction algorithms " performance , several simulations are practiced and the simulation results show that the sculling compensation term in the velocity integration algorithms can not be neglected for the high accuracy sins in highly dynamic environments . 3 分析了速度更新计算中划船误差的产生机理，详细推导了划船补偿算法并在划船运动条件下推导了划船补偿优化算法，最后对各阶算法进行了仿真分析，仿真结果表明：对处在高动态环境下的高精度导航系统，划船补偿不可忽略； 3
This paper basis on the property of the slope of highway in the mountainous area , through a mass of practice of the slope engineering and data of technology , goes along synthesize analysis . also put forward the scull of the slope of highway and analyzed the cause of formation and stress character and the slope stability assessment method of each type slope 本文根据山区公路边坡的特性，通过大量的公路边坡工程实践与技术资料，进行综合分析，提出了公路边坡滑体的类型划分，并分析了各种类型滑体的成因、应力特征以及稳定性评价方法。
The duality between the coning and sculling corrections , raised in the recent literature , is fundamentally explained . the superiority of the new algorithm in accuracy is analytically derived . a variety of simulations are carried out to support the analytic conclusions , including those with ideal inertial sensors and those with non - ideal inertial sensors 2 .从多个侧面对对偶四元数算法和传统算法进行了理论分析和比较,揭示了传统算法中圆锥算法和划船算法之间存在对偶性/等价性的根本原因,导出了对偶四元数算法和传统算法误差的解析表达式,从理论上证明了在高精度和高动态环境中,对偶四元数算法的精度将优于传统算法。
Different filtering methods have been tested to examine the effects of all kinds of filters . the correction of inertial sensor errors , navigation algorithm , coning motion , and sculling motion have also been investigated . based on the above works , the initial alignment on stationary base using imu with mdrlg has been carried out , and an usable navigation software has been completed 对机抖激光陀螺引起的高频振动的补偿方法进行了研究,对不同的滤波方法进行了试验;对机抖激光陀螺捷联系统的仪表误差补偿、导航解算算法、圆锥补偿算法和划桨效应补偿方法进行了研究;对静基座条件下机抖激光陀螺捷联惯导系统的初始对准方法进行了研究,编写了实用的导航软件。
