基于优化旋转矢量双子样算法的捷联惯导姿态解算

在捷联惯导系统中,姿态更新算法会对导航精度产生至关重要的影响.旋转矢量法在抑制不可交换性误差及其累积效应方面具有显著的优点.为兼顾姿态解算的实时性与精确性,文中基于旋转矢量双子样算法原理推导其误差补偿项,并进行了圆锥运动环境下的算法优化,以提高算法的动态适应性,从而形成了优化的旋转矢量双子样算法.最后通过与传统四元数法进行对比分析,表明在捷联惯导姿态解算中,采用优化旋转矢量双子样算法不仅可较好满足系统实时性要求,同时还能较明显地提高解算精度.

Improved twin-sample rotation vector algorithm for SINS attitude updating

Attitude updating algorithm has a profound impact on the navigation accuracy in the strapdown inertial navigation system（ SINS）. Restraining the noncommutativity error and error accumulation is a remarkable effect of the rotation vector algorithm. Taking the real-time and accuracy of attitude update into consideration,this paper deduces the details of error compensation term based on the theory of twin-sample rotation vector and the calculation results are optimized in the conning motion to improve the dynamic adaptability of the algorithm,forming a new improved twin-sample rotation vector algorithm. The experiment shows that the improved twin-sample rotation vector algorithm is much stronger in meeting the real-time and accuracy requirements than the traditional quaternion algorithm in the field of attitude update of SINS.