摘要
基于惯性系的姿态确定方法是近阶段关于动基座姿态确定问题的热点研究方向,分析了惯性系姿态确定方法的误差源产生机理,发现传统的惯性系首先解析出起始姿态阵,继而通过惯性器件量测输出,更新至当前姿态完成姿态确定,这一更新过程不仅加大了计算量,同时会重新引入器件误差和系统误差。因此,针对这一问题提出了一种基于惯性系的瞬时姿态阵解析姿态确定方法。该方法直接解析出当前时刻的姿态阵,避免姿态更新过程中引入误差,充分发挥了优化解析法的优势,对准精度得到大大提高,并利用仿真和实测数据验证了算法的可行性和有效性。
The alignment method based on the inertial system is the hot research direction lately for the moving base alignment problem. In the paper, the mechanism of the alignment method occurring error sources is analyzed. The paper finds that the traditional alignment based on the inertial system first gets the initial attitude matrix, and then updates to the matrix of the current moment with the measurement output of the IMU （inertial measurement unit）. It is found that device error and system error couM be introduced in the update process with increasing calculation amount. So a new method for the analysis of instantaneous attitude matrix based on inertial system is put forward. The direct alignment approach for the current attitude matrix avoids the updating process and avoids introducing the device errors and system errors, which gives full play to the advantages of the optimization alignment. The accuracy is greatly improved. The simulation and measured data verify the feasibility and effectiveness of the algorithm.
出处
《船舶工程》
CSCD
北大核心
2017年第2期43-48,共6页
Ship Engineering
基金
国家级大学生创新创业训练计划基金(20161049705008)
关键词
惯性导航
初始姿态确定
惯性系
优化
inertial navigation
initial attitude alignment
department of inertia
optimal
