角速率输入下捷联航姿算法研究  

Study of Strapdown Navigation Attitude Algorithms for Angular Rate Input

作　　者：黎娜[1] 刘卫东[1] 张浩[1] 朱健[1] 

机构地区：[1]西北工业大学航海学院,西安710072

出　　处：《弹箭与制导学报》2005年第4期6-8,共3页Journal of Projectiles,Rockets,Missiles and Guidance

基　　金：水下信息处理与控制国防科技重点实验室基金。(项目编号:51448060105HK0361)

摘　　要：文中针对工程实际中陀螺输出的角速率形式,研究了锥运动条件下捷联惯导系统姿态计算中旋转矢量双子样、三子样法和四元数法,并提出了一种改进双子样法,对各算法的漂移误差进行了仿真分析。仿真结果表明在角速率输入情况下改进双子样法的精度优于其他算法,是一种较理想的高精度捷联航姿算法。The attitude updating algorithm is a determinant factor in strapdown inertial navigation system （SINS）. According to the practical projects, this paper studies two-sample, three-sample rotation vector and quaternion under the coning base motion, and an improved two-sample rotation vector algorithm is provided. The simulation results show that the accuracy of the improved two-sample rotation vector algorithm is better than that of other algorithms.

关 键 词：捷联惯导系统 锥运动 四元数 旋转矢量 

分 类 号：TN966[电子电信—信号与信息处理] O121.5[电子电信—信息与通信工程]