旋转矢量法系数优化与仿真

Optimization and simulation of parameters for rotation vector algorithm

为减少采用陀螺角速率输出模型推导旋转矢量积分算法存在的误差 ,传统上可利用误差分析的方法改进算法 ,但这需要对误差四元数的表达式进行分析 .为此采用角速率分析的方法推导了新的四子样算法 ;该方法较为简单直观 ,且精度较高 .在此基础上 ,以规则进动信号为输入对算法进行了仿真 .在仿真中 ,通过求取载体进行规则进动时的更新四元数 ,进而获得载体航姿角的真值来作为评价标准 。

A new four sample algorithm which is fairly simple and straight forward and has fairly high accuracy is developed by analyzing the higher order polynomial model of angular rate. A regular precession signal is used to evaluate the method. Generally, The output of algorithm in high quaternion update rate is taken as the theoretical value to evaluate the performance of the algorithm in low quaternion update rate. While this method is only an approximate method with high computer burden the analytical expression of theoretical value for regular precession signal is developed to evaluate the algorithm.