摘要
针对北斗双星/SINS组合导航系统,研究了捷联惯导的姿态和速度更新算法。将等效旋转矢量算法应用与姿态解算,消除了传统的四元数算法存在的不可交换性误差对导航精度的影响,并对速度解算中的划浆误差进行了补偿。将算法应用到北斗双星/捷联惯导组合导航系统,通过实际的跑车实验验证算法的有效性。
Aiming at Beidou/SINS integrated navigation system, attitude and velocity updating algorithm of SINS are researched. Using the equivalent rotation vector to attitude updating eliminating unexchanging error which quaternion algo- rithm bring up to navigation precision, and compensate the sculling error in velocity updating. Using this algorithm to Beidou/SINS integrated navigation system. Validating its availability by dynamic experiment.
出处
《计算机与数字工程》
2010年第2期1-3,10,共4页
Computer & Digital Engineering
基金
国家自然科学基金项目(编号:60874112)资助
关键词
姿态更新
速度更新
旋转矢量
划浆误差
组合导航
rotation vector, attitude updating, velocity updating, sculling error, inertial navigation
