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在捷联惯导系统中,姿态更新算法会对导航精度产生至关重要的影响.旋转矢量法在抑制不可交换性误差及其累积效应方面具有显著的优点.为兼顾姿态解算的实时性与精确性,文中基于旋转矢量双子样算法原理推导其误差补偿项,并进行了圆锥运动环境下的算法优化,以提高算法的动态适应性,从而形成了优化的旋转矢量双子样算法.最后通过与传统四元数法进行对比分析,表明在捷联惯导姿态解算中,采用优化旋转矢量双子样算法不仅可较好满足系统实时性要求,同时还能较明显地提高解算精度.
In the SINS, the attitude update algorithm will have a crucial impact on the navigation accuracy.Variation vector rotation method has significant advantages in suppressing the non-commutativity error and its cumulative effect.In order to take into account the real-time attitude and The accuracy of the algorithm is deduced based on the principle of double vector subsample of rotating vector and the optimization algorithm under conical motion is proposed to improve the dynamic adaptability of the algorithm and form an optimized rotation vector twin subsample algorithm.Finally, Compared with the traditional quaternion method, it is shown that the optimized rotation vector twin subsample algorithm can not only meet the real-time requirements of the system better, but also improve the solution accuracy obviously.