高动态环境下SINS姿态更新的改进等效旋转矢量算法

Improved Equivalent Rotation Vector Based Attitude Updating Algorithm of Strapdown Inertial Navigation System Under Highly Dynamic Environment

高动态环境下捷联惯导系统的姿态算法是提高系统精度的关键技术.通过研究SINS高动态姿态更新方法,分析姿态矩阵解算的四元数及等效旋转矢量算法,使等效旋转矢量算法在高动态环境下的应用问题得以完善.为改善等效旋转矢量算法对于高动态飞行环境的适应性,以圆锥运动作为环境条件,对等效旋转矢量算法进行改进,推导改进算法的误差.通过与单子样和三子样等效旋转矢量算法进行仿真对比,验证了改进算法的有效性.

The navigation algorithm of Strapdown Inertial Navigation System （SINS） under highly dynamic environment is studied, which is the key technology to improve the accuracy of SINS. Thequaternion and equivalent rotation vector algorithms of resolving the attitude matrix were analyzed, and the equivalent rotation vector algorithm was developed in view of the application problem under highly dynamic environment. Aiming at adapting the algorithm to the application in highly dynamic flight environment, an improved equivalent rotation vector algorithm was proposed on the basis of coning motion environment, and the calculation error was derived. The performance was compared to one-sample and three-sample rotation vector algorithms. Simulation results indicate the effectiveness of the improved algorithm.