旋转矢量优化算法比较研究  

Comparison of Optimal Rotation Vector Algorithms

作　　者：魏小莹[1,2] 邓正隆[1] 关永灵[1,3] 

机构地区：[1]哈尔滨工业大学控制科学与工程系,哈尔滨 150001 [2]中国人民解放军96411部队,宝鸡 721006 [3]中国人民解放军63871部队,渭南 714200

出　　处：《导航与控制》2005年第3期29-34,共6页Navigation and Control

摘　　要：总结了现有文献中的旋转矢量算法，分别给出了角增量形式和角速率形式的旋转矢量算法通用模型，列出了具有简化形式并经过优化的48种旋转矢量算法。在现有部分算法圆锥误差已知的基础上，计算出了其余21种算法的圆锥误差。分析表明，现有文献给予一定重视的利用角增量累加值的算法，完全可以由同子样或者更低子样的具有相同数量叉乘项的只利用角增量采样值的算法取而代之。考虑算法精度、计算量、及子样数尽量少的原则，为合理指导工程中对旋转矢量算法的选择，推荐了22种性能相对较好的算法。Based on comprehensive survey of rotation vector algorithm in literature, general models of algorithm by angle increment and angular rate are provided. Then 48 optimal rotation vector algorithms with simple forms are listed, as well as coning errors of them, 21 errors among which are developed by this paper. Analysis shows that algorithm by accumulative angle increment regarded in literature can be entirely it or replaced by algorithm by angle increment of same number of cross-product, which has same samples as even fewer. Finally, 22 algorithms of comparatively well performance are recommended for application.

关 键 词：姿态算法 旋转矢量 圆锥误差 优化算法 比较研究 矢量算法 增量形式 通用模型 算法精度 计算量 

分 类 号：TN966[电子电信—信号与信息处理] O242.23[电子电信—信息与通信工程]