捷联惯性测量解算方法及测高误差估算

Strapdown Integral Measurement Calculation Method and Altitude Measurement Error Estimation

应用四元素法的捷联算法,采用Matlab编程。积分运算采用经典4阶Runge-Kutta算法实现。捷联惯性测量中数学平台和定位解算包括参数初始化、计算装置从惯性器件实时读取数据、载体所在位置重力加速度值计算、速度和位置积分运算等。对可预测的直线轨迹、曲线轨迹对其算法和所编写程序的正确性进行了验证。同时结合一载体运动轨道参数,对各因素对测高误差的影响进行估计,结果证明该方法可行。

The Strapdown algorithm based on quaternion method adopted Matlab programming. The integral calculation was realized by adopting the typical four-step Runge- Kutta algorithm. The mathematics platform and orientation solving of strapdown measurement include parameter initialization, calculation equipment reading data from inertia apparatus in real-time, the gravity acceleration value calculation for carrier position, the velocity calcalation, the position integral calculation and so on. The correctness of predictable straight line trace, curve trace, their algorithm and the combing program was testified. At the same time, combined with the carrier movement orbit parameter, the factor influence on the attitude measurement error was estimated. The results showed that this method was useful.