旋转矢量多迭代捷联姿态解算误差补偿算法

Research on error compensation improved algorithm of strapdown attitude & heading measurement based on multiple iteration rotation vector

为克服高动态条件下的捷联姿态解算存在不可交换性误差的问题,达到进一步增强捷联姿态误差抑制效果的目的,基于角速率的输出提出了等效旋转矢量三子样二次迭代优化算法,推导对应的圆锥补偿算法方程及其表达式。分别在不同圆锥运动频率情况下和不同姿态更新频率情况下,展开仿真验证算法的漂移误差和俯仰角误差,以传统的四元数法、三子样算法为对照,分析仿真数据曲线,得出本改进算法在精度和稳定性方面均有较大提高。在单轴速率转台上进行光纤陀螺的实测验证中,通过调整圆锥运动半偏角和频率,测量获取光纤陀螺惯组输出情况,结果表明:该算法在高动态条件下受圆锥半角、圆锥运动频率的影响较小,性能更加优越。

To reduce the traditional coning error compensation algorithm noncommutativity errors under high dynamic conditions and to restrain the coning error, proposed the three-sample-and- two-time iteration algorithm of equivalent rotation vector based on angular rate, and deduced the expression of coning error compensation algorithm. At different coning motion frequency and update frequency, simulation validation showed this algorithm had advantages in accuracy and stability than quaternion and three sub-sample algorithms. Experimental results show that there was smaller influence of coning motion frequency and cone angle on this algorithm, thus this algorithm is better than traditional algorithm under high dynamic conditions.