等效旋转矢量系数优化的参数解析法  

Parameter analysis method for optimizing rotation vector

作　　者：祝燕华[1] 刘建业[1] 曾庆化[1] 赵伟[1] 

机构地区：[1]南京航空航天大学自动化学院导航研究中心,南京210016

出　　处：《中国惯性技术学报》2008年第1期49-53,共5页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(60472125)

摘　　要：基于等效旋转矢量的姿态算法是减小捷联姿态计算中不可交换性误差的有效方法。针对Miller的多子样优化方法过程复杂且仅适用于优化圆锥运动的局限,提出了通过角速度矢量的高一阶近似模型并利用其各阶导数间的解析关系,实现系数优化的新方法——参数解析法。以Miller的三子样基本算法为例阐述了参数解析法的优化思路并详细推导了其优化过程,在经典圆锥运动环境下得到了与Miller法相同的优化结果。最后在规则进动和广义圆锥运动环境下对该方法的适用性进一步进行验证。该方法简单直观,无需求解误差四元数的解析式,适用范围广,为等效旋转矢量的系数优化提供了一种新思路。The attitude algorithm based on rotation vector is an effective method to reduce the coning error in strapdown attitude calculation. To overcome the shortcomings of Miller＇s method in optimizing the coefficients of rotation vector, a new method, i,e, parameter analysis method, was proposed. The high-order model of angular velocity and the relation between its derivatives are used in this new method to realize the optimization of the coefficients. The new idea to optimize rotation vector was presented in this paper and the optimizing process was derived. When it is used in classical conic motion, the optimizing result is the same as Miller＇s, Besides, the new method is also demonstrated and verified in regular procession and generalized conic motion. Since the parameter analysis method is without calculating error quaternion, it is more convenient, applicable and universal. Moreover, the suggested procedure supplies a new idea to optimize the coefficients of rotation vector.

关 键 词：陀螺 角速度 等效旋转矢量 圆锥误差 参数解析法 

分 类 号：U666.1[交通运输工程—船舶及航道工程]