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捷联惯性导航传统比力积分算法与对偶四元数算法的比较研究
引用本文:杨伟光,吴文启,宋敏.捷联惯性导航传统比力积分算法与对偶四元数算法的比较研究[J].导航与控制,2010(1):29-34.
作者姓名:杨伟光  吴文启  宋敏
作者单位:国防科技大学机电工程与自动化学院;国防科技大学机电工程与自动化学院;国防科技大学机电工程与自动化学院
基金项目:国家973重大基础研究项目资助(编号:61334010303);高等院校博士学科点专项科研基金(编号:20069998009)
摘    要:捷联惯性导航速度更新算法中,将载体坐标系中的比力积分增量变换到导航参考坐标系中,载体姿态变化的影响通常采用一阶近似模型进行计算。本文分析了包括角振动和加速运动的动态运动下一阶近似模型的局限,在典型角振动及加速运动条件下对忽略姿态变化二阶项造成的速度更新误差进行了理论分析。通过比较,揭示了对偶四元数比力积分算法精度高于传统比力积分算法的原因,即和传统比力积分算法相比,对偶四元数比力积分算法等价于考虑了载体姿态变化影响的二阶项。通过典型角振动及加速运动条件下传统捷联惯性导航算法和对偶四元数导航算法的仿真比较,对理论分析结果进行了验证。

关 键 词:捷联惯性导航  动态运动  比力积分算法  对偶四元数

Performance Comparisons between Conventional Specific Force Integration Algorithms and Dual Quaternion Algorithms in SINS
YANG Wei-guang,WU Wen-qi and SONG Min.Performance Comparisons between Conventional Specific Force Integration Algorithms and Dual Quaternion Algorithms in SINS[J].Navigation and Control,2010(1):29-34.
Authors:YANG Wei-guang  WU Wen-qi and SONG Min
Institution:College of Mechatronics and Automation, National University of Defense Technology;College of Mechatronics and Automation, National University of Defense Technology;College of Mechatronics and Automation, National University of Defense Technology
Abstract:The first-order attitude rotation approximation is usually used in the computation of the integrated transformed specific force increment in strapdown inertial navigation velocity updating algorithm accounting for rotation of body frame relative to navigation frame. This paper analyzes the limitation of the first-order attitude rotation approximation under dynamic motion including angular vibration and accelerated motion. The velocity updating error is theoretically analysied in the typical angular vibration and accelerated motion circumstance when ignoring the second-order attitude rotation item. The reason by which dual quaternion algorithms are more accurate than the conventional specific force integration algorithms is derived by comparison, that is, dual quaternion algorithms are equivalent to integrated transformed specific force increment computation using second-order attitude rotation approximation. The theoretical analysis results are verified by the performance comparison simulation between the conventional specific force integration algorithms and the dual quaternion algorithms under typical angular vibration and accelerated motion conditions.
Keywords:SINS  dynamic motion  specific force integration algorithms  dual quaternion
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