基于角增量和角速率的旋转矢量算法的等效性

发布时间：2018-03-16 15:14

本文选题：控制和导航　切入点：旋转矢量算法　出处：《宇航学报》2014年03期 　论文类型：期刊论文

【摘要】：推导了基于角增量和角速率的两种旋转矢量算法(RVA)及其计算误差,并从理论上分析、比较了两种RVA及其圆锥补偿误差(CCE);在不考虑传感器误差情况下,对两种算法的CCE进行了基于典型圆锥运动的仿真。结果表明,两种RVA的CCE由采样频率和圆锥运动频率的比值定量确定:当比值大于1 000时,相同子样数的两种算法的CCE相等;两种RVA具有圆锥误差补偿效应的范围为该比值介于3和1 000之间。在该有效范围内,CCE随比值的减小而单调增大,并且相同子样数的两种算法的CCE随着子样数的增大而趋于相等;当比值小于等于3时,两种算法的圆锥误差补偿效应同样减弱。从而得出两种算法的圆锥误差补偿效应的近似等效性。对于捷联惯组的设计、RVA的选择及其在惯组高动态环境下的应用具有一定指导作用。
[Abstract]:In this paper, two rotation vector algorithms based on angular increment and angular rate are derived, and their calculation errors are derived. The two kinds of RVA and their conical compensation errors are compared theoretically, and the sensor errors are not considered. The CCE of the two algorithms is simulated based on the typical conical motion. The results show that the CCE of the two RVA is quantitatively determined by the ratio of the sampling frequency and the conical motion frequency: when the ratio is greater than 1 000, the CCE of the two algorithms with the same number of sub-samples is equal; The range of cone error compensation effect of the two kinds of RVA is between 3 and 1 000. In this effective range, CCE increases monotonously with the decrease of the ratio, and the CCE of the two algorithms with the same number of sub-samples tends to be equal with the increase of the number of sub-samples. When the ratio is less than 3:00, The coning error compensation effect of the two algorithms is also weakened, and the approximate equivalence of the cone error compensation effect between the two algorithms is obtained. The selection of RVA for strapdown inertial system and its application in the high dynamic environment of inertial system are obtained. Has certain guidance function.
【作者单位】：军械工程学院;
【基金】：国家自然科学基金(60671045)
【分类号】：TN966

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