| 高精度捷联惯导姿态更新优化算法研究 |
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| 引用本文： | 吴军,鲍其莲.高精度捷联惯导姿态更新优化算法研究[J].电子测量技术,2010,33(2):49-52. |
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| 作者姓名： | 吴军 鲍其莲 |
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| 作者单位： | 上海交通大学,电子信息与电气工程学院,导航与控制研究所,上海,200240 |
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| 摘 要： | 介绍了捷联惯导姿态更新算法中的旋转矢量算法。在传统的旋转矢量算法的基础上，提出一种新的航姿算法，并分析了此算法在典型圆锥运动输入下的误差。新航姿算法是利用增加一个角速度拟合参数来估算算法误差，进而优化姿态更新的方法。与传统的旋转矢量算法比较，算法无需计算误差四元素，新算法更为简单明了，为改进旋转矢量算法提供了一种新的思路。
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| 关 键 词： | 捷联惯导 姿态更新算法 旋转矢量 三子样 优化算法 |
Research on high precision optimized strapdown attitude algorithms |
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| Wu Jun,Bao Qilian.Research on high precision optimized strapdown attitude algorithms[J].Electronic Measurement Technology,2010,33(2):49-52. |
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| Authors: | Wu Jun Bao Qilian |
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| Affiliation: | Navigation and control;School of Electronics and Electric Engineering;Shanghai Jiao Tong University;Shanghai 200240 |
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| Abstract: | In this paper,the rotation vector algorithm for SINS attitude updating is introduced,and a new procedure for optimizing the attitude algorithms based on Miller's general approach is derived.The error of this algorithm under the condition of coning movement is derived then.The main idea of this procedure is to obtain the expression for the algorithm's computational error in the general form as a function of an additional angular rate model's coefficient.Compared to the classical algorithms,the new one is sim... |
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| Keywords: | SINS attitude updating algorithm rotation vector three-sample optimal algorithm |
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