摘要
为了提高捷联惯导姿态解算的精度,介绍了捷联惯导姿态更新的流程及常用方法,并提出了一种改进的等效旋转矢量姿态解算算法。对改进算法的姿态解算算法在低动态条件和高动态条件下分别进行了仿真实验,结果表明改进算法在低动态条件下的姿态解算精度和毕卡四元数法相当,在高动态条件下的姿态解算精度远高于传统毕卡四元数法。
To improve the accuracy of the attitude of the （ SINS）, the process and the normal methods of SINS attitude refre SINS attitude refreshing algorithm based on equivalent rotating vect improved algorithm is simulated both in low d proved that the attitude accuracy of SINS base strapdown inertial navigation sys shing are introduced, and an impro or is put forward. The performance tem red s of amic and high dynamic circumstance. The result has on the improved algorithm is similar to that based on Peano Baker quaternion numbers in low dynamic circumstance, but the attitude accuracy of SINS based on improved algorithm is much higher than that based on Peano Baker quaternion numbers in high dynamic circumstance.
出处
《现代防御技术》
北大核心
2010年第4期35-40,共6页
Modern Defence Technology
关键词
四元数
旋转矢量法
捷联惯性导航系统
quaternion numbers
rotating vector method
strapdown inertial navigation system （SINS）
