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。
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 simpler without calculating error quaternion. The method shows a new way to improve the rotation vector algorithms.
出处
《电子测量技术》
2010年第2期49-52,共4页
Electronic Measurement Technology
关键词
捷联惯导
姿态更新算法
旋转矢量
三子样
优化算法
SINS
attitude updating algorithm
rotation vector
three-sample
optimal algorithm
