基于角速度频域重构的旋转矢量解算

Rotation vector solution based on angular velocity reconstruction in frequency-domain

传统的旋转矢量解算对角速度一般采用多项式重构,而实际中在高动态环境下用多项式重构角速度的精度不高。从信号重构理论出发,研究了在对角速度信号进行频域连续重构的基础上进行旋转矢量解算,并对其在捷联惯性导航系统姿态矩阵实时求解中的应用进行了仿真。仿真结果表明,在高动态环境下新算法比传统算法更能有效地抑制不可交换误差,对于提高捷联惯性导航系统精度具有重要的意义。

Traditional rotation vector algorithms usually adopt polynomials reconstruction to process the angular velocity, but they are inaccurate in high dynamic situation. Based on the signal reconstruction theory, the rotation vector algorithms based on the continuous reconstruction of frequency-domain for angular velocity signals were studied. The real time resolving of the attitude matrix in strapdown inertial navigation system（SINS） was simulated. The simulation results show that the new algorithm is more effective than the traditional one in restraining the noncornrnutativity error in high dynamic situation. So it can improve the SINS precision.