捷联惯导四元数的四阶龙格库塔姿态算法

Strapdown Inertial Navigation Quaternion Fourth-order Runge-kutta Attitude Algorithm

针对捷联惯导姿态更新算法高精度、结构复杂度低的需求,为了满足常规武器工程化的需求,提出捷联惯导四元数的四阶龙格库塔姿态解算算法.根据载体初始姿态角确定姿态转换矩阵,由姿态转换矩阵确定四元数初值,用四阶龙格库塔法解四元数微分方程,更新四元数,从而根据四元数与姿态角之间对应关系解算弹体姿态角.120迫弹平台仿真结果验证了四阶龙格库塔姿态更新算法的正确性,姿态解算精度0.01°,开发实用化样机进行实际抛洒实验,结果表明,该算法切实可行,可工程化使用.

In order to meet the requirements of high precision and low structural complexity of strapdown inertial navigation attitude update algorithm,a fourth-order runge-kutta attitude solution algorithm of strapdown inertial navigation quaternion was proposed to meet the requirements of conventional weapon engineering.According to the initial attitude angle of the carrier,the attitude transformation matrix was determined,the initial value of the quaternion was determined by the attitude transformation matrix,the quaternion differential equation was solved by the fourth-order runge-kutta method,the quaternion was updated,and the attitude angle of the projectile body was solved according to the corresponding relationship between the quaternion and the attitude.Angle simulation results of forced projectile platform verified the correctness of fourth-order runge-kutta attitude update algorithm,and the accuracy of attitude solution was 10-2 degrees.A practical prototype was developed for practical spraying experiment,and the experiment proved that the algorithm was feasible and could be used in engineering.