摘要
研究惯导系统,为提高精度,姿态算法在整个捷联算法中占重要地位。其中基于旋转矢量的姿态算法,提高计算精度的主要手段,在等效旋转矢量的更新周期中增加陀螺采样次数,采样次数增加带来的后果是导航计算机的负担加重,使数据采集、传输、运算的工作量都大大增加。为不增加陀螺采样次数能提高算法精度的角度出发,对等效旋转矢量算法进行研究。通过陀螺采样值充分利用增加高阶项来提高等效旋转矢量的计算精度,给出了等效旋转矢量算法新的表达式。并且用计算机对原有方法和增强型算法分别进行了仿真,证明算法可以保证航向和姿态精度要求。
The attitude algorithm plays an important role in strap-down navigation system algorithms.The main method of improving precision of attitude algorithms based on rotation vector is to add the output hits of gyro in one update cycle of the rotation vector.However,the method by increasing hits will totally cause data acquisition and data transmission computing of navigation computer increasing greatly.This paper deals with some research on improving algorithms precision without adding the output hits of gyro in one rotation vector update cycle.Also higher order items are added in rotation vector expression,and a new style of algorithm is designed in this paper.Finally,the simulation of oringinal and improved methods is gived and the comparison is made.
出处
《计算机仿真》
CSCD
北大核心
2010年第11期25-27,77,共4页
Computer Simulation
