捷联惯导姿态更新的四子样旋转矢量优化算法研究

Research on Optimal Four-sample Rotation Vector Algorithm for SINS Attitude Updating

介绍了捷联惯导姿态更新算法中的旋转矢量算法,分析了锥运动环境下数学平台的算法漂移,提出了通过求解矛盾方程组实现四子样旋转矢量算法优化处理的新方法,并对单子样、双子样、三子样、四子样的算法漂移作了对比计算。

In the paper, the rotation vector algorithm for SINS attitude updating is introduced, and the algorithm drifts of mathematical platform caused by the base coning motion are analyzed in detail as well. A new scheme for optimizing the four-sample rotation vector algorithm is proposed, which is realized by solving the contradictious equations. The comparison among one-sample, two-sample, three-sample and four-sample rotation vector algorithm drifts are made.