一种圆锥运动条件下的等效旋转矢量算法研究

传统旋转矢量姿态算法一般采用陀螺的角增量信号来构造积分算法,当应用于输出为角速率的光纤陀螺捷联系统时,通过角速率提取角增量,算法会损失一定精度。提出了一种以陀螺角速率信号与角增量信号同时作为输入的改进旋转矢量姿态算法,进一步补偿了圆锥误差,提高了计算精度。仿真结果表明,该算法与传统二子样算法相比较,计算量相当,姿态精度、速度精度、位置精度有大幅度的提升。

Research on an Equivalent Rotation Vector Algorithm Under Coning Motion Environment

As the incremental angular signals of gyroscope is often used in classical rotation vector attitude algorithms to design the integration algorithm, in FOG Strap-down system which outputs angular rate signals to extract incremental angular signals using angular rate signals would lead to the loss of accuracy.In this paper, the improved rotation vector attitude algorithms are developed using both angular rate and incremental angular signals, and the coning error compensation accuracy is further improved.The simulation results show that compared with the traditional two-sample algorithm, the proposed algorithm has an equivalent amount of computation and great improvement in attitude accuracy, velocity accuracy and location accuracy.