捷联惯导系统姿态测量算法研究  

Research on Algorithm of Strapdown INS Attitude Measurement

作　　者：周亢[1] 闰建国[1] 屈耀红[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710072

出　　处：《计算机测量与控制》2008年第6期763-765,780,共4页Computer Measurement &Control

摘　　要：针对在大机动条件下进行快速准确的捷联惯导系统姿态矩阵解算,从原理上和计算效果上分析了现在较为常用的几种四元数更新方法,并在推证的过程中使用了一种新的方式;该方法以三阶泰勒展开为基础,直接利用角速度的各阶导数进行四元数的更新运算,最后准确地得出各个姿态角的值;通过对几种仿真结果进行的具体分析,表明该方法在不增加采样值的情况下,其计算的精度和计算时间都达到了其他算法在同等条件下无法达到的效果,可以有效的运用于大机动飞行条件下。Aimed at calculating the attitude matrix of strapdown INS fast and preciously in the high maneuver condition, some current update methods of quaternion which always had been used was analyzed in the principle and calculating effect, besides, a new method was proposed in the proving process. This method based on three orders Taylor expansion, used angle-velocitys some order derivative to induce the current update value of quaternion directly, and then every precise attitude results were obtained. Concrete analysis of those simulation results shows that this method＇s calculating precise and time achieved the effects which other methods couldn＇t reach and the new method didn＇t increase the sampling value, it shows that this method could he used in high maneuver flight condition effectively.

关 键 词：大机动 捷联惯导系统 姿态 四元数 仿真 

分 类 号：V324.2[航空宇航科学与技术—人机与环境工程]