硬件增强角速率圆锥优化算法的姿态解算精度分析及改进

Accuracy analysis of attitude computation and improvement for coning algorithm optimized with hardware-enhanced angular rates

在分析传统硬件增强角速率圆锥优化算法姿态解算精度的基础上,提出了一种改进的算法,对传统算法中的周期分量进行了二次优化.首先通过分析传统算法的各轴分量相对于旋转矢量变化量的真值以及理想值的误差来确定算法的姿态解算精度,然后根据经典圆锥运动建立二次优化的误差准则并推导了相应的二次优化系数,最后在不同的经典圆锥运动环境下对传统算法以及改进算法的姿态解算精度进行仿真对比.结果表明,对传统算法的姿态解算精度的分析是正确合理的,而且只需采用改进的三子样算法就可以获得与根据理想值得到的结果几乎完全一致的姿态解算精度.

Based on the accuracy analysis of attitude computation for the traditional coning algorithm optimized with hardware-enhanced angular rates,an improved coning algorithm is proposed to secondly optimize the periodic components in the traditional one.The accuracy of attitude computation is first determined by analyzing the error of any axis component in the traditional algorithm relative to the true and theoretical values of the change of rotation vector.Then an error criterion for the second optimization is established according to classical coning motion,and the corresponding coefficients are derived.Simulations are carried out in various classical coning environments to compare the accuracy of attitude computation for the traditional and improved algorithms.The results show that the accuracy analysis of attitude computation for the traditional algorithm is correct and reasonable.Furthermore,only using the improved three-subinterval algorithm the accuracy of attitude computation can be almost the same as that acquired from the theoretical value.