基于四元数误差模型的捷联惯导系统对准方法

传统的小干扰方程并不能描述捷联惯导系统在大失准角下的误差传播特性 ,推导了姿态误差为大角度时的四元数误差方程 ,并指出当姿态误差为小量时 ,所推导的误差模型与小干扰方程是等价的。仿真结果表明在大失准角下的空中对准过程中 ,采用四元数误差方程以及非线性滤波技术能有效地提高对准精度

SINS in-Flight Alignment Using Quaternion Error Models

The widely used conventional linearized error models or perturbation models are not effective to represent the nonlinear characteristics of SINS error propagation with large attitude errors. Error equations in terms of quaternion error are derived, and extended Kalman filter techniques are used to solve the in flight alignment problems. In the case of small attitude errors, the nonlinear models can be reduced to conventional phi angle models. The simulation results show that the proposed error models may improve the performance of alignment.