捷联惯导系统双矢量定姿方法研究

Studying on Algorithm of Double-vector Attitude Determination in SINS

利用两相交矢量确定运载体姿态矩阵的方法为双矢量定姿;分别对静基座和动基座情况下的捷联惯导系统双矢量定姿问题进行了研究;静基座条件下利用地球自转角速度和重力加速度信息直接解析实现定姿,动基座条件下利用重力加速度信息,构造中间参考矢量通过矩阵传递的方法实现定姿,并对不同环境下的定姿误差进行了分析;仿真实验结果表明,利用重力加速度和地球自转角速度信息完全能够实现运载体的定姿,且定姿精度能够满足进一步采用线性模型进行精定姿的要求。

The method to determine the direction cosine matrix between two coordinates by two unparallel vectors is defined as the double-vector attitude determination.The algorithm of the double-vector attitude determination on the stationary and swaying base two cases is investigated.Under the stationary base case,the angular velocity of earth rotation and the gravitation acceleration are selected as the reference vectors to determine the cosine matrix by mathematical analysis directly.And under the swaying base case,the integrations of the gravity vector in the inertial coordinate of two different periods of time are selected as the reference vectors.The error characteristics of the double-vector attitude determination in those two cases are analyzed.At last,the feasibility of the algorithm is demonstrated by the simulation results and the attitude determination accuracy can satisfy the request of the fine attitude determination further by use linear model method.