圆锥运动下几种姿态算法的比较与误差建模

Comparison and Error Modeling of Several Attitude Algorithms Under Coning Motion

姿态确定技术在许多工程应用中至关重要,但常用姿态算法在不同场合下的性能表现尚未得到较系统的研究。文中针对4种常见高精度姿态算法进行了较全面的圆锥运动仿真实验研究,比较不同条件下4者的精度高低,并在一定范围内建立其姿态角误差模型。实验结果与误差模型均表明,不同条件下4者精度排序不同;其中以四子样旋转矢量法计算速度最快,在多数情况下综合性能表现最佳。

Attitude determination technology is very important in many engineering applications,but the performance of common attitude algorithms in different situations has not been systematically studied.In this paper,comprehensive coning-motion simulation experiments are conducted for four common high-precision attitude algorithms.The accuracies of the four under different conditions are compared,and the attitude-angle error models of the four within a certain application range are established.Both the experimental results and the error models show that the accuracy order of the four is different under different conditions and the four-subsample rotation-vector method owns the highest calculation speed and the best comprehensive performance in most cases.