中文摘要：

姿态角速度解算是无陀螺捷联惯导系统（GFSINS）的关键技术之一,目前基于代数方法提取的GFSINS姿态角速度的精度无法达到导航要求。通过总结现有的姿态角速度信息代数提取方法,分析各提取方法的输出特点,设计了四类姿态角速度提取的滤波提取方案,并利用系统两路独立的姿态角加速度和姿态角速度输出,设计了一类组合滤波器。仿真结果表明该滤波器获得的姿态角加速度和姿态角速度输出精度和稳定性相对现有姿态角速度信息代数提取算法均有大幅度提高。

英文摘要：

The solution of attitude angular velocity plays a key role in realizing the Gyroscope Free Strapdown Inertial Navigation System （GFSINS）, and the present algebra-based attitude angular velocity solution cannot offer precise outputs for navigation system. Based on four kinds of attitude angular velocity filter schemes, a combined filter which utilized both attitude angular velocity and attitude angular acceleration outputs was designed. The simulation results show that the accuracy and stability of attitude angular velocity and attitude angular acceleration offered by the combined filter are better than those of the present algebra-based solution.