高动态捷联姿态测量的改进型圆锥误差补偿算法研究

高动态条件下,传统圆锥补偿算法存在不可交换性误差。为抑制圆锥误差,提出了基于角速率输出的等效旋转矢量三子样二次迭代优化算法;并采用修正型罗德里格斯参数进行更新,推导了相应的圆锥补偿算法方程和表达式。在不同圆锥运动频率下和不同更新频率下,仿真验证得出了改进算法在精度和稳定性方面均较四元数法、三子样算法均有提高。实测结果表明,改进算法受圆锥半角、圆锥运动频率的影响较小,在高动态条件下较传统算法性能更优。

Research on Coning Error Compensation Improved Algorithm of High Dynamic Strapdown Attitude Heading Measurement

Under high dynamic condition, in the operation process of traditional coning error compensation algorithm noncommutativity errors are existed. To suppress the coning error, we proposed the three-sample-and-two-time iteration algorithm of equivalent rotation vector based on angular rate, used, and deduced the expression of coning error compensation algorithm. Under different coning motion frequency and update frequency, simulation validation shows this algorithm had advantages in accuracy and stability than quaternion and three sub-sample algorithms. Experimental results show that the influence of coning motion frequency and cone angle on this algorithm is less, this algorithm is better than traditional algorithm under high dynamic condition.