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Leng Yue, Zhang Chen. 舰载捷联惯导姿态更新算法研究[J]. Chinese Journal of Ship Research, 2011, 6(5): 94-97. DOI: 10.3969/j.issn.16733185.2011.05.019
Citation:
Leng Yue, Zhang Chen. 舰载捷联惯导姿态更新算法研究[J]. Chinese Journal of Ship Research, 2011, 6(5): 94-97. DOI: 10.3969/j.issn.16733185.2011.05.019
Leng Yue, Zhang Chen. 舰载捷联惯导姿态更新算法研究[J]. Chinese Journal of Ship Research, 2011, 6(5): 94-97. DOI: 10.3969/j.issn.16733185.2011.05.019
Citation:
Leng Yue, Zhang Chen. 舰载捷联惯导姿态更新算法研究[J]. Chinese Journal of Ship Research, 2011, 6(5): 94-97. DOI: 10.3969/j.issn.16733185.2011.05.019
舰载捷联惯导姿态更新算法研究
Leng Yue
,
Zhang Chen
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Abstract
Abstract
针对舰艇、轮船等经常处于低频圆锥运动、角机动等恶劣工作环境,传统姿态更新的误差补偿方法在多子样更新中补偿效果较差的问题,提出了一种改进方法。通过建立角增量的2N2阶近似模型并利用其各阶导数之间的解析关系,实现了对等效旋转矢量的进一步修正。使用参数解析法与改进算法分别推导研究了四子样情况下的优化结果,并分析研究了改进算法在四子样以上情况下的适用性。研究表明,与参数解析法相比,改进算法可以在四子样及四子样以上的情况下简单直观地得到更加精准的优化系数,且与四子样参数解析法相比,其误差缩小了2个数量级,同时也比五子样参数解析法更精确。
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