高动态环境下的捷联惯导系统姿态算法的研究

Research on Attitude Algorithm of Strapdown Inertial Navigation System under the Condition of High Dynamic Motion

捷联姿态算法性能的优劣直接影响捷联系统的导航精度,文中以精确弹药为应用对象,对高动态环境下的四元数的四阶-龙格库塔法和三子样旋转矢量法通过仿真进行了比较。以典型圆锥运动为输入信号,以圆锥漂移为检验算法的基准,应用simulink建立的仿真模型给出了姿态角误差仿真的结果,并对结果进行了分析。仿真结果表明,等效旋转矢量法对提高高动态环境下的导航精度更具有实用价值。

The solution accuracy of attitude matrix in attitude directly affects the navigation accuracy of strapdown inertial navigation system （SINS） . The attitude algorithm of precision ammunition SINS with high dynamic motion is studied. On the basis of cone error as criteria the fourth order Ronge-Kutta method and three samples rotation vector method are compared in this paper. Based on simulink models the simulations of attitude angles are given and analysised. It is shown that three samples rotation vector method is an effective algorithm that can greatly increase the attitude accuracy with high dynamic motion.