| 旋转三子样高精度捷联惯性导航算法 |
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| 引用本文： | 李保国,向亚飞,刘航.旋转三子样高精度捷联惯性导航算法[J].导航与控制,2012(3):42-47. |
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| 作者姓名： | 李保国 向亚飞 刘航 |
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| 作者单位： | 北京航空航天大学仪器科学与光电工程学院;北京航空航天大学仪器科学与光电工程学院;北京航空航天大学仪器科学与光电工程学院 |
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| 摘 要： | 针对捷联惯导系统高精度导航的需求，以螺旋理论为基础，采用螺旋补偿三子样推导出对偶四元数所表示的捷联惯导算法，并同时对载体的姿态、速度、位置进行更新，并以四阶截断三角级数近似三角函数进行对偶四元数更新和螺旋矢量更新。仿真和跑车实验结果表明：螺旋三子样捷联惯性导航算法的导航精度比一般四元数算法提高约15%，为相关领域的研究与实际应用提供参考。
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| 关 键 词： | 捷联惯性导航算法 对偶四元数 螺旋理论 螺旋补偿 |
High Precision SINS Algorithm Based on Three-subsample Screw Vector |
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| LI Bao-guo,XIANG Ya-fei and LIU Hang.High Precision SINS Algorithm Based on Three-subsample Screw Vector[J].Navigation and Control,2012(3):42-47. |
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| Authors: | LI Bao-guo XIANG Ya-fei and LIU Hang |
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| Institution: | School of instrument Science and Opto-electronic Engineering,eijing University of Aeronautics and Astronautics;School of instrument Science and Opto-electronic Engineering,eijing University of Aeronautics and Astronautics;School of instrument Science and Opto-electronic Engineering,eijing University of Aeronautics and Astronautics |
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| Abstract: | To meet the requirement of the precise navigation of the stapdown inertial navigation system (SINS), a three-subsample screw vector based dual-quaternion strapdown inertial navigation algorithm is proposed. Attitude, velocity and position are updated simultaneously. Screw compensation including coning and sculling compensations is accomplished by a fourth-order triangle series. Simulation and road test results show that the proposed algorithm is available to obtain a more precise inertial navigation result than the traditional quaternion algorithm. The position error is reduced by 15% at the most. |
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| Keywords: | SINS algorithm dual-quaternion screw theory screw compensation |
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