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1.引言 用于惯性导航的捷联系统其特点是它的敏感元件感受高的动态范围。因此,在选择系统姿态算法时需要考虑基座高频运动的影响。 通常捷联系统用的姿态算法有欧拉法、方向余弦法和四元数法、在这些算法中,四元数方法是最常用的,其优点是没有奇异性、简单和节省计算时间。最近,伯斯、泽旦和米勒提出了旋转矢量的概念,进一步改进了四元数方法的性能。事实证明,附加了旋转矢量概念的四元数方法能有效的抑制非交换误差这一姿态计算中的重要误差源。
1. INTRODUCTION The strapdown system for inertial navigation features a high dynamic range of its sensitive components. Therefore, in the choice of system attitude algorithm need to consider the impact of high-frequency base motion. Generally, the attitude algorithms used by the strapdown system are Euler method, direction cosine method and quaternion method. Quaternion method is the most commonly used method in these algorithms. Its advantage is that there is no singularity, simplicity and time saving calculation. Recently, Buss, Zeidam, and Miller proposed the concept of rotation vectors to further improve the performance of quaternion methods. It has been proved that the quaternion method with the addition of a rotation vector concept can effectively suppress non-exchange errors, an important source of error in attitude calculation.