摘要
姿态算法是捷联惯导系统算法中的一个重要组成部分,解算姿态阵相当于建立起数学平台,其精度对捷联惯导系统的精度影响很大。该文就实际应用,对欧拉角法、方向余弦法、四元数算法、罗德利格参数法、优化旋转矢量算法及一种改进的递推旋转矢量算法做了分析,并在典型圆锥运动输入下,对后五种算法进行了仿真,为姿态算法的研究提供了参考。
Attitude algorithm is an important part of SINS algorithm. The calculation of attitude algorithm is used for building the mathematic platform and its accuracy of attitude algorithm can enormously affect the accuracy of SINS. Based on the practical applying, this paper analyses Euler algorithm, direction cosine algorithm, quaternion algorithm, Rodrigues Parameters, optimal rotation vector attitude algorithm and an improved recursion rotation vector attitude algorithm. All algorithms, except the first one, are simulated in the classical coning motion. This paper can be used for reference for the study on attitude algorithm of SINS.
出处
《中国惯性技术学报》
EI
CSCD
2006年第3期6-10,共5页
Journal of Chinese Inertial Technology
关键词
捷联姿态算法
精度
圆锥运动
比较
Strapdown attitude algorithm
accuracy
coning motion
comparison
