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基于角增量提取的旋转矢量算法研究
引用本文:王俊璞,金志华.基于角增量提取的旋转矢量算法研究[J].导航与控制,2009(3):1-5.
作者姓名:王俊璞  金志华
作者单位:上海交通大学电院仪器系导航与控制研究所;上海交通大学电院仪器系导航与控制研究所
摘    要:在某些由光纤陀螺或微机电陀螺组成的捷联航姿系统中,陀螺输出的是角速率。针对这种情况,归纳了基于角增量提取的二子样、三子样和四子样旋转矢量姿态算法,推导了这些算法的圆锥误差表达式,比较了它们的性能。

关 键 词:姿态算法  旋转矢量  角速率  圆锥误差

Rotation Vector Attitude Algorithms Based on the Integration of Angular Rate
WANG Jun-pu and JIN Zhi-hua.Rotation Vector Attitude Algorithms Based on the Integration of Angular Rate[J].Navigation and Control,2009(3):1-5.
Authors:WANG Jun-pu and JIN Zhi-hua
Institution:Department of Instrumentation Engineering, Shanghai Jiao Tong University;Department of Instrumentation Engineering, Shanghai Jiao Tong University
Abstract:Classical attitude algorithms often use incremental angular signals. However, in some strap-down attitude and heading reference system based on FOG or micro inertial sensors, the outputs of gyros are angular rate signals. In this paper, several rotation vector attitude algorithms based on the integration of angular rate are developed, and their coning errors are given.
Keywords:attitude algorithm  rotation vector  angular rate  coning error
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