高动态环境下旋转矢量法的优化和应用  

Application and Optimization of Rotation Vector Algorithm under Dynamic Motion

作　　者：屈重君[1] 张亮[1] 陆志东[1] 

机构地区：[1]西安飞行自动控制研究所,陕西西安710065

出　　处：《计算机仿真》2008年第3期66-69,共4页Computer Simulation

摘　　要：对于捷联惯性导航系统算法来说,姿态矩阵更新是算法的核心,但是锥运动环境是影响捷联系统工作的最恶劣条件,会诱导数学平台的严重漂移,最终导致算法发散,系统失效。提出了基于锥运动环境下,多子样旋转矢量的优化算法来补偿因锥运动引起的算法漂移,以及工程实现,比较了不同子样数目旋转矢量的优化结果。仿真结果表明了优化后的算法较之单子样,双子样算法有明显的漂移减小,较之优化以前的算法也有一定的改进,并且随着子样数目越多,优化后的算法精度也越高。A new optimization algorithm for SDINS （Strapdown Inertial Navigation System） based on mhi - sampies rotation vector under high dynamic coning motion is presented in this paper. For attitude - update - matrix of SDINS, the coning motion is the worst working condition, and results in the math platform seriously drift, even SINS invalidation. On the other hand, the algorithm drift is reached to least under other conditions so long as it is least under coning motion. The result shows that the drift of optimization algorithm is lower than that before, and with more samples and higher attitude - update - matrix accuracy. Also, the drift of algorithm is obviously reduced comparing with simple- sample and doublesample.

关 键 词：捷联惯性导航系统 旋转矢量 锥运动 四元数 多子样 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计]