捷联惯导系统初始四元数提取的新算法

New Algorithms for Initial Quaternion Extraction of SDINS

给出了捷联惯导系统初始四元数提取的两种新算法。其中算法1的推导是基于方向余弦矩阵和四元数的代数关系式,而算法2则利用了姿态转动的几何特点。与经典的四元数提取算法相比,所给出的算法具有简单、可靠、无奇异的特点,而且所得四元数的归一化程度也优于传统方法。利用数值仿真对所提算法的优越性进行了验证,结果表明,方法是合理的、可行的。

Two new algorithms of quaternion extraction from initial transformation matrix of strapdown inertial navigation system are provided. The first algorithm is fully based on mathematic relation between quaternion and directioncosine matrix, while the second algorithm utilizes the geometric property of rotation. Compared with the traditional method, the proposed algorithms are more efficient and reliable in computation and have the advantage of singularityfree. The advantage of the suggested methods is tested by the numerical emulating and the result is feasible and reasonable.