捷联姿态算法非互易误差的分析与修正  

Analysis and correcting of irreplaceable errors of strapdown attitude algorithms

作　　者：吴俊伟 黄德鸣[2] 邹经湘[1] 

机构地区：[1]哈尔滨工业大学力学博士后流动站,黑龙江哈尔滨150001 [2]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工业大学学报》2001年第4期508-511,共4页Journal of Harbin Institute of Technology

摘　　要：在捷联惯性导航系统中 ,陀螺仪的输出是迭代时间内载体的角增量的量化值 ;由其解算出的载体姿态存在不可交换性误差 ,该误差的大小与捷联姿态算法密切相关 .研究的目的在于选择适当的捷联算法 ,减小姿态算法中的不可交换误差 ,提高捷联算法的精度 .以鱼雷捷联惯性姿态基准为例 ,对四元数法的捷联姿态算法误差和基于等效旋转矢量的优化的三子样捷联姿态算法误差进行了分析比较 .数字仿真结果表明 ,三子样法比四元数法的捷联姿态算法精度高 7至 8个数量级 ,而前者的采样周期却低一个数量级 ,显著地提高了捷联姿态算法的精度 .In the strapdown inertial system, the Gyro outputs are quantized value of the vehicle angle increment during the iteration interval and there are irreplaceable errors which are related closely to the strapdown algorithms in the vehicle attitude resolution obtained from the Gyro outputs. This paper aims at selecting the right algorithm to reduce the irreplaceable errors in attitude. With the torpedo SINS as an example, two kinds of strapsown attitude errors,coming from respectively the quaternion algorithms and the optimizing three samples based on the equivalent rotation vector,are analyzed and compared with each other. The results of digital simulation indicate that the strapdown attitude precision of the three samples is 7 to 8 grades higher than that of the quaternion algorithms,and the sample period of the former is 1 grade smaller than that of later,and the strapdown algorithm has obviously higher accuracy.

关 键 词：捷联算法 姿态误差 四元数法 旋转矢量法 非互易性误差 捷联惯性导航系统 鱼雷 

分 类 号：U666.12[交通运输工程—船舶及航道工程] TN966[交通运输工程—船舶与海洋工程]