捷联惯导系统姿态算法比较

Comparison of Attitude Algorithms of SINS

姿态算法是捷联惯导系统算法中的一个重要组成部分,解算姿态阵相当于建立起数学平台,其精度对捷联惯导系统的精度影响很大。该文就实际应用,对四元数毕卡迭代法、四元数四阶龙格-库塔算法、圆锥补偿算法和一种改进的圆锥补偿算法进行了分析和比较,并在典型圆锥运动下进行了仿真,仿真结果表明,四阶龙格-库塔算法具有很高的工程实用价值。

Attitude algorithm is an important part of SINS algorithm. The calculation of attitude algorithm is used for building the mathematic platform and its accuracy can enormously affect the accuracy of SINS. Based on the practical applying, the quaternion picard iteration , the quaternion fourth order Ronge-Kutta method, coning compensation algorithm and an improved coning compensation algorithm are analyzed and compared in this paper. All algorithms are simulated in the classical coning motion, and the results show that the fourth order RongeKutta is an algorithm valuable for engineering utility.