基于加性四元数误差方程的惯性/天文姿态组合算法  

Inertial/Celestial attitude integrated algorithm based on additive quaternion

作　　者：屈蔷[1] 刘建业[1] 熊智[1] 

机构地区：[1]南京航空航天大学自动化学院,南京210016

出　　处：《中国惯性技术学报》2011年第3期316-319,共4页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(60904091;91016019);2009江苏高校优秀科技创新团队-飞行器智能导航;控制与健康管理;南京航空航天大学基本科研业务费专项科研项目资助(NS2010072)

摘　　要：针对采用旋转四元数误差进行的组合导航误差建模中状态方程的非线性化问题,提出一种新的惯性/天文组合姿态组合算法,以姿态加性四元数误差和陀螺漂移为状态变量,推导系统线性化状态方程,并以天文导航和惯导姿态四元数之差为量测量,建立系统量测方程,然后利用卡尔曼滤波实现对该组合模式的信息融合,仿真分析表明,所设计的基于姿态四元数误差和陀螺漂移的组合模式能够有效估计系统状态误差,姿态误差0.02°左右,验证了其有效性,可避免较为复杂的非线性滤波器的使用,为工程实践提供了理论支持。Focusing on the problem of the nonlinearity state equations with revolving quaternion errors,a new inertial/ Celestial Attitude Integrated mode is designed.The state quotation is established taking attitude quaternion error and gyro drift as state variables.The measurement quotation is constructed taking the attitude quaternion difference between CNS and SINS as measurements.Then the Kalman filter is used to achieve this attitude integrated mode.Finally,a flight model is used as an illustrate example which avoids the use of nonlinear filter.Simulation results show that the attitude error is less than 0.02° which demonstrate the effectiveness and feasibility of the proposed method.

关 键 词：天文导航 组合模式 姿态组合 加性四元数 

分 类 号：U666.1[交通运输工程—船舶及航道工程]