高动态捷联姿态测量的改进型圆锥误差补偿算法研究

Research on Coning Error Compensation Improved Algorithm of High Dynamic Strapdown Attitude & Heading Measurement

高动态条件下,传统圆锥补偿算法存在不可交换性误差。为抑制圆锥误差,提出了基于角速率输出的等效旋转矢量三子样二次迭代优化算法;并采用修正型罗德里格斯参数进行更新,推导了相应的圆锥补偿算法方程和表达式。在不同圆锥运动频率下和不同更新频率下,仿真验证得出了改进算法在精度和稳定性方面均较四元数法、三子样算法均有提高。实测结果表明,改进算法受圆锥半角、圆锥运动频率的影响较小,在高动态条件下较传统算法性能更优。

Under high dynamic condition, in the operation process of traditional coning error compensation algo-rithm noncommutativity errors are existed.To suppress the coning error, the three-sample-and-two-time iteration al-gorithm of equivalent rotation vector based on angular rate, was proposed used, and deduced the expression of co-ning error compensation algorithm.Under different coning motion frequency and update frequency, simulation vali-dation shows this algorithm had advantages in accuracy and stability than quaternion and three sub-sample algo-rithms.Experimental results show that the influence of coning motion frequency and cone angle on this algorithm is less, this algorithm is better than traditional algorithm under high dynamic condition.