旋转矢量算法中圆锥补偿误差的变化规律  

Variational patterns of conical compensation error in rotation vector algorithm

作　　者：王立冬[1] 鲁军[1] 殷建玲[1] 余伟涛[1] 

机构地区：[1]军械工程学院光学与电子工程系,石家庄050003

出　　处：《中国惯性技术学报》2013年第3期328-331,共4页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金项目(60671045)

摘　　要：基于典型圆锥运动输入,研究、分析了旋转矢量算法中圆锥补偿误差的变化规律。从理论上推导、分析了基于角速率的旋转矢量算法及其圆锥补偿误差与旋转矢量算法本身、基座动态特性之间的关系;在假定没有传感器测量误差的前提下,结合仿真,得出旋转矢量算法的圆锥补偿误差与捷联惯组的采样频率f以及圆锥运动频率ω的关系,给出了圆锥补偿误差随f/ω的变化规律,确立了旋转矢量算法具有圆锥误差补偿效应的(f/ω)的极限值:(f/ω)≥3。研究结果对捷联惯组的设计及其在高动态环境下的应用具有一定的参考价值。The variational patterns of conical compensation error in rotation vector algorithm are studied and analyzed based on the input of typical conical motion. The rotation vector algorithm based on angle-velocity and the relation among rotation vector algorithm, the conical compensation error in rotation vector algorithm and the base’s dynamic characteristics are deduced and analyzed in theory. With supposing that the error in measurement of inertial sensors is zero, the relation among conical compensation error in rotation vector algorithm, the sampling frequency of SINS and the conical motion frequency ω is found by means of simulation. The variational pattern that how the conical compensation error changes with the （f/ω）is found, and the limit of （f/ω）≥3 is ascertained when coning error compensation can be provided with the rotation vector algorithm, which has some reference value for the design of SINS and its application in high dynamic environment.

关 键 词：飞行器控制 导航技术 旋转矢量算法 圆锥补偿误差 典型圆锥运动 

分 类 号：U666.1[交通运输工程—船舶及航道工程]