基于预测-校正-改进算法解算SINS姿态的四元数微分方程  

Solution of Forecasting-Correcting-Improving Algorithm to Quaternion Differential Equation of SINS Attitude

作　　者：王德春[1] 隋君[1] 

机构地区：[1]海军潜艇学院研究生队,山东青岛266071

出　　处：《战术导弹控制技术》2006年第1期39-41,共3页

摘　　要：四阶Runge-Kutta（R-K）算法解算四元数微分方程，不能保证单位四元数的“单位”性。采用预测-校正-改进线性多步算法，能够在要求的误差范围内，长时间保证其“单位”性。仿真结果表明：预测-校正-改进算法，不仅能够精确地解算四元数微分方程，而且单位四元数的“单位”精度明显比预测-改进算法高出-个数量级。To solve the quaternion differential equation by four-order Runge-Kutta （R-K） algorithm does not make the unit of quaternion. But forecasting-correcting-improving algorithm can do it during the area of the error for a long time. The simulation results show that it not only can accurately solve the attitudes of SINS, but also is better than forecasting-correcting algorithm.

关 键 词：捷联惯导系统 姿态 微分方程 四元数 预测 校正 改进 

分 类 号：O175.1[理学—数学] TP301.6[理学—基础数学]