直接优化解析姿态确定方法

基于惯性系的姿态确定方法是近阶段关于动基座姿态确定问题的热点研究方向,分析了惯性系姿态确定方法的误差源产生机理,发现传统的惯性系首先解析出起始姿态阵,继而通过惯性器件量测输出,更新至当前姿态完成姿态确定,这一更新过程不仅加大了计算量,同时会重新引入器件误差和系统误差。因此,针对这一问题提出了一种基于惯性系的瞬时姿态阵解析姿态确定方法。该方法直接解析出当前时刻的姿态阵,避免姿态更新过程中引入误差,充分发挥了优化解析法的优势,对准精度得到大大提高,并利用仿真和实测数据验证了算法的可行性和有效性。

Analytical alignment of instantaneous attitude matrix based on inertial system

The alignment method based on the inertial system is hot for the moving base lately. In this paper, the error sources of the alignment method are analyzed, and find out that the traditional alignment based on the inertial system first get the initial attitude matrix. The initial attitude matrix has been updated to the matrix of the current moment with the measurement output of the IMU(inertial measurement unit). Device error and system error will be introduced in the update process. So the author puts forward a new method for the analysis of instantaneous attitude matrix based on inertial system.The direct alignment approach for the current attitude matrix avoid the updating process and avoid introducing the device errors and system errors, give full play to the advantages of the optimization alignment, the accuracy are greatly improved, and measured data are used to verify the feasibility and effectiveness of the algorithm.