捷联惯导算法中螺旋理论的应用

算法定义了推力速度坐标系、重力速度坐标系、位置坐标系,以螺旋理论为数学工具,提出了一种新的捷联惯导算法。算法利用螺旋矢量描述空间中的旋转和平移,推导出对偶四元数表示的导航运动学方程,同时对载体的姿态、速度进行更新。设计的螺旋补偿算法包括了传统的圆锥补偿和划船补偿,有效地减小了刚体转动的不可交换性误差。仿真结果表明:在高动态环境中,采用高精度的惯性传感器时,新算法的性能优于传统算法。

Application of spiral theory in strapdown inertial navigation algorithm

The algorithm defines thrust velocity frame,gravitational velocity frame,position frame.Using screw theory as a mathematical tool,a new strapdown inertial navigation(INS) algorithm is proposed.The algorithm utilizes screw vector to represent rotation and translation' and updates attitude and velocity simultaneously.The kinematic equations based on dual quaternion are deduced in SINS.Screw compensation algorithm including coning and sculling compensations reduces the noncommutable error caused by rigid body's rotation effectively.The simulation result shows that when high-precision inertial sensors are used,this new algorithm hacsa better performance than the conventional ones in highly dynamic environments.