摘要
针对陀螺输出信号的两种不同形式 ,以圆锥运动条件下的圆锥误差和计算量为指标 ,对捷联惯导系统姿态计算中的旋转矢量算法和旋转矢量迭代算法进行了研究 ,分析了由角速度提取角增量的方法对旋转矢量算法精度的影响 ,提出二子样迭代算法不如单步的三子样算法优越。
On the basis of cone error and computational load as criteria, the rotation vector algorithm and rotation vector iteration algorithm in the attitude calculation of strapdown inertial navigation systems are studied regarding two different types of outputs of the gyro. The influence on the accuracy of the rotation vector algorithm when using the method of extracting angular increment from the angular velocity is analysed. It is shown that the two-sample iteration algorithm is less expedient when compared to the single-step, three-sample iteration algorithm.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2000年第3期229-232,共4页
Acta Armamentarii
基金
总装备部"九五"预研资助项目!( 9.2 .72 )
关键词
捷联惯导系统
四元数
旋转矢量
strapdown inertial navigation system， quaternion， rotation vector
