[1]陈建锋,陈熙源,祝雪芬.硬件增强角速率圆锥优化算法的姿态解算精度分析及改进[J].东南大学学报(自然科学版),2012,42(4):632-636.[doi:10.3969/j.issn.1001-0505.2012.04.011]
 Chen Jianfeng,Chen Xiyuan,Zhu Xuefen.Accuracy analysis of attitude computation and improvement for coning algorithm optimized with hardware-enhanced angular rates[J].Journal of Southeast University (Natural Science Edition),2012,42(4):632-636.[doi:10.3969/j.issn.1001-0505.2012.04.011]
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硬件增强角速率圆锥优化算法的姿态解算精度分析及改进()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
42
期数:
2012年第4期
页码:
632-636
栏目:
仪器科学与技术
出版日期:
2012-07-20

文章信息/Info

Title:
Accuracy analysis of attitude computation and improvement for coning algorithm optimized with hardware-enhanced angular rates
作者:
陈建锋12 陈熙源1 祝雪芬1
1 东南大学微惯性仪表与先进导航技术教育部重点实验室,南京 210096; 2 江苏大学电气信息工程学院,镇江 212013
Author(s):
Chen Jianfeng12 Chen Xiyuan1 Zhu Xuefen1
1 Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology of Ministry of Education, Southeast University, Nanjing 210096, China
2 School of Electrical and Information Engineering, Jiangsu University, Zhenji
关键词:
圆锥优化算法 姿态解算 精度分析 周期分量 二次优化
Keywords:
optimal coning algorithm attitude computation accuracy analysis periodic component second optimization
分类号:
V249.322
DOI:
10.3969/j.issn.1001-0505.2012.04.011
摘要:
在分析传统硬件增强角速率圆锥优化算法姿态解算精度的基础上,提出了一种改进的算法,对传统算法中的周期分量进行了二次优化. 首先通过分析传统算法的各轴分量相对于旋转矢量变化量的真值以及理想值的误差来确定算法的姿态解算精度,然后根据经典圆锥运动建立二次优化的误差准则并推导了相应的二次优化系数,最后在不同的经典圆锥运动环境下对传统算法以及改进算法的姿态解算精度进行仿真对比. 结果表明,对传统算法的姿态解算精度的分析是正确合理的,而且只需采用改进的三子样算法就可以获得与根据理想值得到的结果几乎完全一致的姿态解算精度.
Abstract:
Based on the accuracy analysis of attitude computation for the traditional coning algorithm optimized with hardware-enhanced angular rates, an improved coning algorithm is proposed to secondly optimize the periodic components in the traditional one. The accuracy of attitude computation is first determined by analyzing the error of any axis component in the traditional algorithm relative to the true and theoretical values of the change of rotation vector. Then an error criterion for the second optimization is established according to classical coning motion, and the corresponding coefficients are derived. Simulations are carried out in various classical coning environments to compare the accuracy of attitude computation for the traditional and improved algorithms. The results show that the accuracy analysis of attitude computation for the traditional algorithm is correct and reasonable. Furthermore, only using the improved three-subinterval algorithm the accuracy of attitude computation can be almost the same as that acquired from the theoretical value.

参考文献/References:

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备注/Memo

备注/Memo:
作者简介: 陈建锋(1979—),男,博士生,讲师; 陈熙源(联系人),男,博士,教授,博士生导师,chxiyuan@seu.edu.cn.
基金项目: 国家自然科学基金资助项目(50975049)、国家重点基础研究发展计划(973计划)资助项目(2009CB724002)、高等学校博士学科点专项科研基金资助项目(20110092110039).
引文格式: 陈建锋,陈熙源,祝雪芬.硬件增强角速率圆锥优化算法的姿态解算精度分析及改进[J].东南大学学报:自然科学版,2012,42(4):632-636. [doi:10.3969/j.issn.1001-0505.2012.04.011]
更新日期/Last Update: 2012-07-20