| 一种改进的旋转矢量姿态算法 |
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| 引用本文： | 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. |
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| 作者姓名： | 林雪原 刘建业 赵伟 |
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| 作者单位： | 1. 南京航空航天大学导航研究中心,南京,210016；海军航空工程学院电子工程系,烟台,264001
2. 南京航空航天大学导航研究中心,南京,210016 |
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| 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．
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| 关 键 词： | 改进旋转矢量姿态算法 迭代周期 陀螺仪 航行姿态 圆锥运动 漂移误差 捷联惯导系统 |
| 文章编号： | 1001-0505(2003)02-0182-04 |
Improved rotation vector attitude algorithm |
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| Lin Xueyuan , Liu Jianye Zhao Wei.Improved rotation vector attitude algorithm[J].Journal of Southeast University(Natural Science Edition),2003,33(2):182-185. |
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| Authors: | Lin Xueyuan Liu Jianye Zhao Wei |
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| Institution: | Lin Xueyuan 1,2 Liu Jianye 1 Zhao Wei 1 |
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| 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. |
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| Keywords: | strap down attitude algorithm coning motion rotation vector error analysis quaternion |
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