摘要
设计了一种新的姿态四元数匹配传递对准方法,并以载机姿态四元数与弹体姿态四元数的四元数乘积作为量测量,推导了姿态四元数匹配量测方程。通过理论分析,得出了载机平台失准角、弹体平台失准角、弹体安装误差角和机翼颤振变形角为小量的情况下,这些量与量测量之间的关系。推导了传统的姿态角匹配传递对准方法量测方程,与之相比,姿态四元数匹配量测方法明显降低了计算量,并分别对两种姿态匹配方法进行了仿真,仿真结果表明:新的姿态四元数匹配方法与传统姿态匹配传递对准方法具有相同的精度。
A new algorithm based on attitude quaternion matching for transfer alignment is designed,the quaternion product of the airborne attitude quaternion by the missile attitude quaternion is taken as the measurement,and the matching measurement equation of attitude quaternion is derived.The relationship between the measurement and airborne platform misalignment angle,missile platform misalignment angle,missile fix error angle and wing flutter deformation angle is got under the condition that these angles are smal1.Besides,the measurement equation of a traditional attitude angle matching transfer alignment scheme is derived and the attitude quaternion matching scheme is better compared with the traditiona1 algorithms,because it is much simpler and the computational effort is much less.And then,the simulation for two attitude matching schemes is done and results indicate that the new attitude quaternion matching scheme have the same accuracy as the traditiona1 attitude matching transfer alignment scheme.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2011年第1期81-87,共7页
Journal of Astronautics
关键词
传递对准
姿态匹配
四元数
惯性导航
卡尔曼滤波
Transfer alignment
Attitude matching
Quaternion
Inertial navigation
Kalman filtering
