修正型罗德里格斯参数在旋转弹上的应用(英文)

Application of Modified Rodrigues Parameters for Spinning Projectiles

光纤陀螺可应用于旋转弹导航上,以提高其精确打击能力。基于光纤陀螺的捷联惯性导航系统是实现这一目的的重要手段之一。其中,姿态更新算法是捷联惯性导航系统的核心。针对旋转弹短时、近程的特点,提出一种基于修正型罗德里格斯参数的全姿态更新算法,并给出适合旋转弹姿态确定的数学模型。仿真结果表明与传统姿态更新算法相比较,新算法可以更有效的抑制不可交换误差,降低跟随时间的累积误差,减少高动态环境下的计算量,提高算法结算的速度和精度。

The fiber optic gyro（FOG） can be used on the navigation of the spinning projectiles. And one of the most important means is the strap-down inertial navigation system （SINS）based on FOG, while the attitude updating algorithm is the core of SINS. According to the characteristics of short flight time and close rang of fire, an all- attitude determination algorithm based on modified Rodrigues parameters （MRPs）is designed, and a mathematical model is given for the attitude measurement of spinning projectiles. Compared with the common attitude updating al- gorithm, the simulation results indicate that the new algorithm can suppress the non-commutable error effectively, reduce the accumulative error over time, save the computation in high dynamic environment, and improve the navigation speed and accuracy.