三周期旋转矢量姿态算法研究

Study on Three-Periods Rotation Vector Attitude Algorithm

姿态更新算法是捷联惯导系统算法的核心，也是影响捷联惯导系统精度的主要因素之一。本文根据陀螺当前迭代周期内以及前2个迭代周期内的角增量输出，提出了一种三周期旋转矢量姿态算法，并根据在当前迭代周期内对陀螺仪采样的次数，推导出了在三周期旋转矢量姿态算法下的单子样、双子样以及三子样公式，并且分析了三种子样公式在典型圆锥运动输入下的漂移误差。

Attitude updating algorithm is the core of strap-down inertial navigation system （SINS）＇s algorithm, is also one of the main factors that affects the precision of SINS. This paper develops one three-periods rotation vector algorithm expressions for strap-down attitude utilizing the angle increments output by gyro from the last two and current updating periods, and according to the number of gyro samples in the current updating period, this paper deduces the one-sample, two-sample, and three - sample formulas under the three-period rotation vector attitude algorithm, and analyses the three formulas＇ excursion error under the coning motion.