捷联惯导系统航姿算法的比较及仿真分析  

Comparison and Simulation Analysis for Attitude Algorithms of SINS

作　　者：王小峰[1] 董正芳[1] 

机构地区：[1]中国电子科技集团公司第二十研究所,西安710068

出　　处：《现代导航》2016年第2期103-106,共4页Modern Navigation

摘　　要：结合工程实际应用,介绍了当前主流航姿算法中的四元数法和旋转矢量三子样算法,提出了一种在典型圆锥运动下求解四元数和旋转矢量三子样的新方法,并且详细地分析、比较和仿真了上述算法。仿真结果表明,四元数算法在精度上不如旋转矢量三子样法,但在陀螺角速率输入模式下比三子样法占有优势且计算量小,旋转矢量三子样法可以抑制不可交换误差,适于高机动高精度的导航要求,但也存在计算量大以及在陀螺角速率输入模式下存在明显的噪声放大效应。Combining with engineering application, the quaternion and rotation vector attitude algorithms which are mainstream algorithms are introduced, and a new method of finding a solution to quaternion and three subsample rotation vector in typical coning movement is proposed and analyzed through the simulation. The results show that quaternion has smaller amount of computations in the mode of gyro velocity input, but its precision is not better than rotation vector attitude algorithms. Meanwhile, rotation vector attitude algorithms meet requirements of high-dynamic and high-precision, but its noise amplification is more obvious.

关 键 词：航姿算法 旋转矢量 四元数 圆锥运动 仿真 

分 类 号：V249[航空宇航科学与技术—飞行器设计]