捷联惯导系统姿态提取奇异点的简单方法

A Method of Avoiding Singularity When Determining Attitude in Strapdown Inertial Navigation System

采用四元数的捷联惯导系统姿态更新方法,虽然在四元数微分方程中不会出现欧拉角微分方程中的奇异点,但是,在提取姿态角中,当俯仰角接近±90°时,同样会出现滚动角和航向角的不确定性,即存在奇异点。文中从方向余弦矩阵中寻找三个姿态角之间的关系,给出了解决捷联惯导系统姿态角提取奇异点的一种简单方法。同时,通过分析四元数方向余弦矩阵中各元素间的关系,建立了四元数与方向余弦矩阵的关系式。

Although singularity,performing as in Euler angles differential equation,does not appear in quaternion differential equation when using cluaternion method to update attitudes in strapdown inertial navigation system,roll and heading angles still become indeterminate,so called singularity,when the pitch angle approaching ±90°,After giving out some content related to direction cosine matrix and seeking for the relationship among the three attitude angles from direction cosine matrix,a simple method was found s...