一种实用的飞行器捷联惯性导航算法  

A Practical Strapdown Inertial Navigation Algorithm for Aircraft

作　　者：陈柯勋 邱伟[2] CHEN Kexun;QIU Wei(College of Information and Computer, Taiyuan University of Technology, Taiyuan 030600, China;Beijing Intensity Environment Institute, Beijing 100076, China)

机构地区：[1]太原理工大学信息与计算机学院,太原030600 [2]北京强度环境研究所,北京100076

出　　处：《太原理工大学学报》2020年第5期764-770,共7页Journal of Taiyuan University of Technology

基　　金：国家自然科学基金资助(518050346)。

摘　　要：为了拓展捷联惯性导航的应用,以进一步提高飞行器导航精度和效率为目标,设计了一种实用的飞行器捷联惯性导航算法,该算法融合惯性器件的姿态信息、速度信息、加速度信息及位置信息测量值,借助四元数法分别构造姿态矩阵、速度矩阵及位置矩阵,然后通过解算四元数的运动学微分方程求出飞行器的姿态角和位置。试验结果表明,本文所述算法能够准确计算出飞行器的姿态与位置信息,可以为飞行器导航系统设计人员提供参考,具有一定的理论意义和实用价值。In aircraft positioning and navigation,strapdown inertial navigation has always been a commonly used method,and plays an important role in positioning and navigation.However,because strapdown inertial navigation directly uses inertial sensitive devices,the inherent zero drift of the sensitive devices leads to uncertainty in the accuracy of the calculation,which limits its popularization and application in the field of navigation.In order to improve the expanded application of strapdown inertial navigation,this paper aimed to further improve the accuracy and efficiency of aircraft navigation,and designed a practical aircraft strapdown inertial navigation algorithm,which combines attitude information,velocity information,acceleration information,and inertial device information The measured value of position information is used to construct the attitude matrix,velocity matrix,and position matrix with the help of quaternion method,and then the attitude angle and position of the aircraft can be obtained by solving the quaternion kinematic differential equation.The test results show that the algorithm described in this paper can accurately calculate the attitude and position information of aircraft,and provide reference for the designers of aircraft navigation system.It has certain theoretical significance and practical value.

关 键 词：捷联惯性导航 四元数 飞行器 惯性器件 姿态矩阵 位置矩阵 

分 类 号：TN967.2[电子电信—信号与信息处理]