捷联惯导姿态更新多子样旋转矢量算法

Multi-sample rotation vector algorithm for strapdown inertial navigation system attitude updating

姿态更新算法的精度直接影响捷联惯导系统的精度。为有效提高捷联惯导姿态更新算法的精度,在圆锥运动条件下,建立了多子样数的陀螺角增量姿态求解模型,通过对补偿效果相同的圆锥误差项进行合并,得到了优化多子样旋转矢量算法的通用形式。算法精度仿真结果表明,算法精度随子样数的增加而提高。

The accuracy of the attitude updating algorithm directly affects the precision of the strapdown inertial navigation system(SINS).In order to effectively improve the precision of the attitude updating algorithm for SINS,the multi-sample gyro angular increment attitude solution model is built based on the coning motion conditions.Through merge processing the cone error terms of the same compensation effect,general form of the optimized multi-sample rotation vector algorithm is obtained.The simulation results show that the algorithm accuracy improves with the increasing of the number of sub-samples.