【摘要】 姿态更新算法是捷联惯性导航系统的关键算法,目前姿态更新算法有欧拉角法、四元数法、方向余弦法和旋转矢量法。旋转矢量法可以采用多子样算法实现对不可交换误差的补偿。针对利用陀螺角增量输出进行姿态更新计算带来的不可交换性误差,考虑到导航坐标系在姿态更新周期内旋转比较缓慢的特点,研究了捷联惯导姿态更新的旋转矢量的修正算法,以此为基础详细推导了四子样的旋转矢量算法,得出利用陀螺角增量求解等效旋转矢量的显式形式。该显式形式中直接利用陀螺的增量输出,便于工程实际中应用。更多还原

【Abstract】 The algorithm for strap-down inertial navigation systems attitude updating is dealt with.The algorithms for attitude updating include Euler angles algorithm,quaternion algorithm,direction cosine algorithm and rotation vector algorithm.The rotation vector algorithm can use many samples to compensate the noncommutativity errors.The rotation vector is discussed,and the correction algorithm with the rotation vector algorithm for attitude updating is studied.The four-sample algorithm is deducted in detail,and the formula of solving the equivalent rotation vector based on the output of gyroscope is established.In the formula,the output of gyroscope is established directly,so,it can be used in engineering easily.更多还原