| 捷联惯性导航系统的四元数姿态适时修正算法探讨 |
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| 引用本文： | 尹苗苗,孔凡邨.捷联惯性导航系统的四元数姿态适时修正算法探讨[J].中国航海,2007,13(1):29-34. |
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| 作者姓名： | 尹苗苗 孔凡邨 |
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| 作者单位： | 1. 缅甸海事大学,仰光,缅甸
2. 上海海事大学,上海,200135 |
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| 基金项目： | 上海市重点学科建设项目 |
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| 摘 要： | 建立了捷联惯性导航系统的四元数姿态修正算法,该算法跟其他常用算法的区别是在旋转矢量计算上的处理不同,计算采用了多步骤Adams-Moulton方法。由于多步骤方法不能自行启动,所以在开始阶段采用了单步骤Heun’s方法。然后,在实际计算值和预估值的基础上,建立了姿态修正运算法的评估误差方程。数字测试结果表明该四元数姿态修正算法在低频动态情况下是可靠的。.
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| 关 键 词： | 船舶、舰船工程 惯性导航系统 四元数 姿态算法 船体坐标系 航海坐标系 惯性坐标系 Ship、 Naval engineering |
| 文章编号： | 1000-4653（2007）01-0029-06 |
| 收稿时间： | 2007-01-04 |
| 修稿时间： | 2007年1月4日 |
Approach to The Attitude Quaternion Updating Algorithm of Strapdown Inertial Navigation System |
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| YIN Myo Myat,KONG Fan-cun.Approach to The Attitude Quaternion Updating Algorithm of Strapdown Inertial Navigation System[J].Navigation of China,2007,13(1):29-34. |
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| Authors: | YIN Myo Myat KONG Fan-cun |
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| Institution: | 1. Myanmar Maritime University, Yangon, Myanmar; 2. Shanghai Maritime University, Shanghai 200135, China |
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| Abstract: | The algorithm to update the attitude quaternion of strapdown inertial navigation system is developed and updating the attitude quaternion is separately considered the rotation vector calculation.The quaternion at current step is calculated by using multi steps Adams-Moulton Method.Since this multi-step method cannot be self-started,so the first initial 3 steps are computed by single-step Heun's method.And also develop the quaternion algorithm error equation using calculated value of the predictor and corrector stage of attitude algorithm.From the numerical test result of coning motion,the algorithm is exactly normalized and the algorithm drift rate is reliable for low frequency motion. |
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| Keywords: | strapdown inertial navigation system quaternion attitude algorithm body frame navigation frame inertial frame |
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