圆锥运动下几种姿态算法的比较与误差建模  

Comparison and Error Modeling of Several Attitude Algorithms Under Coning Motion

作　　者：熊丽娟 朱洪涛[1] 王志勇[1] 曹娟华[1] 周波[3] XIONG Lijuan;ZHU Hongtao;WANG Zhiyong;CAO Juanhua;ZHOU Bo(School of Mechatronics Engineering,Nanchang University,Nanchang 330031,China;School of Aeronautical Manufacturing Engineering,Nanchang Hangkong University,Nanchang 330063,China;School of Measurement and Opoeletronic Engineering,Nanchang Hangkong University,Nanchang 330063,China)

机构地区：[1]南昌大学机电工程学院,南昌330031 [2]南昌航空大学航空制造工程学院,南昌330063 [3]南昌航空大学测试与光电工程学院,南昌330063

出　　处：《弹箭与制导学报》2020年第3期39-44,共6页Journal of Projectiles,Rockets,Missiles and Guidance

基　　金：国家自然科学基金(51468042)资助。

摘　　要：姿态确定技术在许多工程应用中至关重要,但常用姿态算法在不同场合下的性能表现尚未得到较系统的研究。文中针对4种常见高精度姿态算法进行了较全面的圆锥运动仿真实验研究,比较不同条件下4者的精度高低,并在一定范围内建立其姿态角误差模型。实验结果与误差模型均表明,不同条件下4者精度排序不同;其中以四子样旋转矢量法计算速度最快,在多数情况下综合性能表现最佳。Attitude determination technology is very important in many engineering applications,but the performance of common attitude algorithms in different situations has not been systematically studied.In this paper,comprehensive coning-motion simulation experiments are conducted for four common high-precision attitude algorithms.The accuracies of the four under different conditions are compared,and the attitude-angle error models of the four within a certain application range are established.Both the experimental results and the error models show that the accuracy order of the four is different under different conditions and the four-subsample rotation-vector method owns the highest calculation speed and the best comprehensive performance in most cases.

关 键 词：姿态角 四元数 四子样旋转矢量 四阶龙格库塔 泰勒级数 误差模型 圆锥运动 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构] U666.1[自动化与计算机技术—计算机科学与技术]