Improved equivalent rotation vector based attitude updating algorithm of strapdown inertial navigation system under highly dynamic environment
-
摘要: 高动态环境下捷联惯导系统的姿态算法是提高系统精度的关键技术. 通过研究SINS高动态姿态更新方法, 分析姿态矩阵解算的四元数及等效旋转矢量算法, 使等效旋转矢量算法在高动态环境下的应用问题得以完善. 为改善等效旋转矢量算法对于高动态飞行环境的适应性, 以圆锥运动作为环境条件, 对等效旋转矢量算法进行改进, 推导改进算法的误差. 通过与单子样和三子样等效旋转矢量算法进行仿真对比, 验证了改进算法的有效性.Abstract: The navigation algorithm of Strapdown Inertial Navigation System (SINS) under highly dynamic environment is studied, which is the key technology to improve the accuracy of SINS. The quaternion and equivalent rotation vector algorithms of resolving the attitude matrix were analyzed, and the equivalent rotation vector algorithm was developed in view of the application problem under highly dynamic environment. Aiming at adapting the algorithm to the application in highly dynamic flight environment, an improved equivalent rotation vector algorithm was proposed on the basis of coning motion environment, and the calculation error was derived. The performance was compared to one-sample and three-sample rotation vector algorithms. Simulation results indicate the effectiveness of the improved algorithm.
-
[1] Savage P G. Strap-down inertial navigation integration algorithm design part I: attitude algorithm[J]. J. Guid. Contr. Dyn., 1998, 21(1):57-62 [2] Roscoe K M. Equivalency between strapdown inertial navigation coning and sculling integrals/algorithms[J]. J. Guid. Contr. Dyn. 2001, 24(2):145-152 [3] Ben Yueyang. Research of Strapdown Inertial Navigation Algorithm under Highly Dynamic Environment[D]. Harbin: Harbin Engineering University, 2008. In Chinese (奔粤阳. 高动态环境捷联惯导算法研究[D]. 哈尔滨: 哈尔滨工程大学, 2008) [4] Mu Shuzhi, Bu Xiongzhu, Li Yongxin. Research on attitude algorithm of strapdown inertial navigation system under the condition of high dynamic motion[J]. J. Proj. Rocket. Miss. Navig., 2006, 26(3):11-16. In Chinese (牟淑志, 卜雄洙, 李永新. 高动态环境下的捷联惯导系统姿态算法的研究[J]. 弹箭与制导学报, 2006, 26(3):11-16) [5] Wu Jun, Bao Qilian. Research on high precision optimized strapdown attitude algorithms[J]. Electr. Meas. Tech., 2010, 33(2):49-52. In Chinese (吴军, 鲍其莲. 高精度捷联惯导姿态更新优化算法研究[J]. 电子测量技术, 2010, 33(2):49-52) [6] Qin Yongyuan. Inertial Navigation[M]. Beijing: Science Press, 2006. In Chinese (秦永元. 惯性导航[M]. 北京: 科学出版社, 2006) [7] Li Jianwen, Hao Shunyi. On precise positioning method for highly dynamic GPS/SINS integrated navigation[J]. Inf. Contr., 2009, 38(3):304-308. In Chinese (李建文, 郝顺义. 高动态GPS/SINS组合导航精确定位方法研究[J]. 信息与控制, 2009, 38(3):304-308) [8] Xue Zurui. Discussion on coning errors of strapdown inertial system[J]. J. Chin. Inert. Tech., 2000, 8(4):46-50. In Chinese (薛祖瑞. 关于捷联惯导系统圆锥误差的诠 释[J]. 中国惯性技术学报, 2000, 8(4):46-50) [9] Lee J G, Yoon Y J, Mark J G. Extension of strap-down attitude algorithm for high-frequency base motion[J]. IEEE Trans. Aeros. Elect. Syst., 1994, 30(4):235-242
点击查看大图
计量
- 文章访问数: 2358
- HTML全文浏览量: 34
- PDF下载量: 1377
- 被引次数: 0