不同姿态表示方法下的姿态估计分析  

Attitude estimation analysis under different attitude representation methods

作　　者：鲁鑫 高敬东[1] 李开龙[1] LU Xin;GAO Jing-dong;LI Kai-long(Navigation Engineering Department, Naval University of Engineering, Wuhan 43000, Chin)

机构地区：[1]海军工程大学导航工程系,湖北武汉430000

出　　处：《舰船科学技术》2018年第3期137-141,共5页Ship Science and Technology

基　　金：国家自然科学基金资助项目(4150622)

摘　　要：在组合导航中,针对不同姿态表示方法构建的姿态估计算法在计算量和精度等方面存在性能差异较大等问题,分别对四元数无味估计器、基于修正罗德里格斯参数和高阶罗德里格斯参数所构成的姿态估计算法进行理论推导与性能比较分析。在数值实验中,比较了3种姿态估计算法在计算量和精度等方面的优劣性,结果表明四元数无味估计器精度最优,但计算量较大,而基于高阶罗德里格斯参数的姿态估计算法计算量最小,相对精度较高。In the navigation, according to the different attitude representation method to construct the attitude estimation algorithm performance as the differences in the amount of calculation and accuracy, respectively to four yuan number tasteless estimator, modified Rodrigues parameters and high order parameters of Rodrigues attitude estimation algorithm is deduced and the theory of comparative analysis based on performance in numerical. In the experiment, the advantages and disadvantages of algorithm in the calculation of quantity and accuracy of the comparison of three kinds of attitude estimation,the results show that the four element number estimator accuracy is optimal but tasteless, large amount of calculation, and the high order Rodrigues parameter attitude estimation algorithm based on the minimum amount of computation, relatively high precision.

关 键 词：组合导航 姿态估计 四元数 RODRIGUES参数 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]