[1]林雪原,刘建业,赵伟.一种改进的旋转矢量姿态算法[J].东南大学学报(自然科学版),2003,33(2):182-185.[doi:10.3969/j.issn.1001-0505.2003.02.016]
 Lin Xueyuan,Liu Jianye,Zhao Wei.Improved rotation vector attitude algorithm[J].Journal of Southeast University (Natural Science Edition),2003,33(2):182-185.[doi:10.3969/j.issn.1001-0505.2003.02.016]
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一种改进的旋转矢量姿态算法()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
33
期数:
2003年第2期
页码:
182-185
栏目:
化学化工
出版日期:
2003-03-20

文章信息/Info

Title:
Improved rotation vector attitude algorithm
作者:
林雪原12 刘建业1 赵伟1
1 南京航空航天大学导航研究中心,南京 210016; 2 海军航空工程学院电子工程系,烟台 264001
Author(s):
Lin Xueyuan12 Liu Jianye1 Zhao Wei1
1 Center of Navigation, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
2 Electronic Department, Naval Aeronautics Engineering Academy, Yantai 264001, China
关键词:
航姿算法 圆锥运动 旋转矢量 误差分析 四元数
Keywords:
strap-down attitude algorithm coning motion rotation vector error analysis quaternion
分类号:
O666.1
DOI:
10.3969/j.issn.1001-0505.2003.02.016
摘要:
应用陀螺当前迭代周期内及前2个迭代周期内的角增量输出,并根据在当前迭代周期内对陀螺仪采样的次数,提出了3个新的航姿算法,分析了此算法在典型圆锥运动输入下的漂移误差.与传统的旋转矢量法比较,新的算法比Miller’s算法精度高3~4个数量级; 对于单子样,新算法比Y.F.Jiang算法精度高约3个数量级,对于双子样、三子样,新算法比Y.F.Jiang算法精度高20~30倍,为改进旋转矢量算法提供了一种新的思路.
Abstract:
Three improved algorithm expressions for strap-down attitude are developed utilizing the angle increments output by gyro from the last two and current updating periods and according to the number of gyro samples in the current updating period. The algorithms’ errors under the coning motion are also discussed. Compared with the conventional algorithms, the accuracy of improved algorithm is 3-4 orders higher than that of Y.F Jiang algorithm. For only one gyro sample taken, the accuracy of new algorithm is about 3 orders higher than that of Y.F Jiang algorithm; for two or three gyro samples taken, 20-30 orders higher, which shows a new way to improve the rotation vector algorithms.

参考文献/References:

[1] Bortz J E.A new mathematical formulation for strap-down inertial navigation [J]. IEEE Transaction on Aerospace and Electronic Systems,1971(1):61-66.
[2] Miller R B.A new strap-down attitude algorithm [J].Journal of Guidance,Control,and Dynamics, 1983,6(4):287-291.
[3] Lee J G,Yoon Y J,Mark J G.Extension of strap-down attitude algorithm for high-frequency base motion [J].Journal of Guidance,Control,and Dynamics, 1990,13(4):738-743.
[4] Jiang Y F,Lin Y P.Improved strap-down coning algorithms [J].IEEE Transaction on Aerospace and Electronic Systems,1992,28(2):484-490.
[5] 沈建渭.捷联惯导关键技术研究[D].南京:南京航空航天大学自动化学院,1998.
[6] Jordan J W.An accurate strap-down direction cosine algorithm.Report TN D-5348,NASS[R].Washington D C,1969.

备注/Memo

备注/Memo:
基金项目: 国防预研重点资助项目.
作者简介: 林雪原(1970—),男,博士生,讲师; 刘建业(联系人),男,博士,教授,博士生导师,Ljyac@nuaa.edu.cn.
更新日期/Last Update: 2003-03-20