基于非等间距采样输出的旋转矢量姿态算法

基于实际系统中陀螺的输出为非等间隔的角增量信号，重点研究了采样时刻的变化对捷联姿态算法的影响，并推导出旋转矢量三子样算法和二子样算法的通用表达式及其误差方程。传统的Miller算法已被证明是本算法的特例。研究发现，算法误差与由采样时刻构成的误差系数阵密切相关，Miller算法中的等间距采样使得该矩阵奇异，而改变采样间距可使其满秩，从而降低算法误差。然而对角增量输出的二子样算法而言，等间隔采样比非等间距采样具有更小的箕法漂移。仿真及试验结果证明了本文的观点。

Research on Rotation Vector Attitude Algorithms Based on Non-uniform Sampling

Based on angular incremental signals from practical gyros using non-uniform sampling,the general expressions and error equations for three-sample and two-sample algorithms were presented which revealed the internal links between algorithm drift and sampling time.As a special case of our new algorithm,Miller's algorithm error was found to be closely related to the matrix consisting of sampling points.While equal-interval sampling,on which Miller's theory was based,could make the error matrix singular,altering the sampling intervals could render it full rank,and thereby reduced the algorithm error.However,the non-uniform sampling could increase two-sample algorithm's error.These conclusions were confirmed by simulation and test results.