| 四区间双插值捷联惯姿算法 |
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| 引用本文： | 陶杰武,陈国光,田晓丽.四区间双插值捷联惯姿算法[J].应用基础与工程科学学报,2005(Z1). |
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| 作者姓名： | 陶杰武 陈国光 田晓丽 |
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| 作者单位： | [1]中北大学机械电子工程系 [2]中北大学机械电子工程系 山西太原 [3]山西太原 |
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| 摘 要： | 提出一种减小捷联惯导系统姿态算法误差的运算方法,该算法运用拉格朗日插值逼近载体系下角速率和姿态四元数,通过求解四元数方程组实现姿态更新.本文在典型圆锥运动和规则进动下,将该算法与常见的四子样旋转矢量算法进行了仿真对比,结果表明,新算法能有效提高姿态求解精度.
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| 关 键 词： | 捷联姿态算法 四元数 拉格朗日插值 |
Numerical Intergration Attitude Algorithm of SINS System Base on 4~(th) Lagrange Polynomial |
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| TAO Jiewu,CHEN Guoguang,TIAN Xiaoli.Numerical Intergration Attitude Algorithm of SINS System Base on 4~(th) Lagrange Polynomial[J].Journal of Basic Science and Engineering,2005(Z1). |
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| Authors: | TAO Jiewu CHEN Guoguang TIAN Xiaoli |
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| Abstract: | This paper describes a new procedure for deriving high accuracy strapdown inertial attitude algorithm.A key point of the algorithm is the use of Lagrange interpolation algorithm,which approaching not only gyro outputs signal but also attitude quaternion,updating attitude matrix through calculating quaternion equation group.A simulation for the accuracy of algorithms under the typical coning motion and regular precesional motion is presented.Results demonstrates that the algorithm can significantly improve the accuracy of attitude solution obtained from strapdown velocity gyro measurements. |
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| Keywords: | strapdown attitude algoritnm Quaternion Lagrange interpolation |
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