旋转载体圆锥姿态解算方法研究  

Research on Coning Attitude Algorithm of Spinning Bodies

作　　者：张双彪[1] 李兴城[2] ZHANG Shuangbiao;LI Xingcheng(Beijing Key Laboratory of High Dynamic Navigation Technology,Beijing Information Science and Technology University,Beijing 100101,China;School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京信息科技大学高动态导航技术北京市重点实验室,北京100101 [2]北京理工大学宇航学院,北京100081

出　　处：《弹箭与制导学报》2020年第4期5-9,共5页Journal of Projectiles,Rockets,Missiles and Guidance

基　　金：国家自然科学基金(61771059);北京市教委科技创新服务能力建设项目(KM201911232013);促进高校内涵发展-科研重点研究培育项目(5211910952)资助。

摘　　要：针对旋转载体的双轴锥形运动引起常规姿态解算出现发散误差问题,提出圆锥姿态解算方法,给出基于旋转矢量的姿态解算过程,并以载体姿态和半锥角为精度验证参数,与常规姿态解算方法进行仿真对比,研究发现,圆锥姿态解算方法的精度高于欧拉角姿态解算方法,圆锥姿态的双步姿态解算精度高于欧拉角的双步姿态解算,但是常规优化的旋转矢量方法效果并不明显。圆锥姿态解算方法更适合旋转载体出现双轴锥形运动条件。Aiming at the divergence error of the conventional attitude algorithms caused by the biaxial cone motion of spinning bodies,a cone attitude calculation method is proposed,and the attitude calculation process based on the rotation vector is given.To compare with accuracy of algorithms,the attitude error and the half cone angle are chosen as main parameters,and the simulation results show that the accuracy of the cone attitude algorithm is higher than that of the Euler angles algorithm,the accuracy of the cone angle attitude based on the two-step attitude solution is higher than that of the Euler angles based on the two-step attitude solution,and the improvement of conventional optimization method is inconspicuous.The cone attitude algorithm is more suitable for the biaxial conical motion of spinning bodies.

关 键 词：旋转载体 姿态解算 表征方法 解算误差 

分 类 号：TJ413.6[兵器科学与技术—火炮、自动武器与弹药工程]