摘要
以船舶为对象，研究了摇摆运动下的捷联惯导姿态解算问题，分析了不可交换性误差产生的原因，提出了消除该误差的等效旋转矢量方法。仿真结果表明，等效旋转矢量方法提高了导航精度。
The attitude algorithm of ship strapdown inertial navigation system under the condition of swaying motion is studied. The cause of the noncommutativity error is also analysed, and the rotation vector is presented to decrease the error. The simulation results indicate that the rotation vector can greatly increase the attitude accuracy.
出处
《电机与控制学报》
EI
CSCD
2000年第2期74-76,97,共4页
Electric Machines and Control
关键词
姿态解算
捷联惯导系统
船舶
导航精度
SINS
attitude algorithm
quaternion
noncommutativity error
rotation vector
