中国航海
中國航海
중국항해
NAVIGATION OF CHINA
2007年
1期
29-34
,共6页
船舶、舰船工程%惯性导航系统%四元数%姿态算法%船体坐标系%航海坐标系%惯性坐标系
船舶、艦船工程%慣性導航繫統%四元數%姿態算法%船體坐標繫%航海坐標繫%慣性坐標繫
선박、함선공정%관성도항계통%사원수%자태산법%선체좌표계%항해좌표계%관성좌표계
Ship、 Naval engineering%strapdown inertial navigation system%quaternion%attitude algorithm%body frame%navigation frame%inertial frame
建立了捷联惯性导航系统的四元数姿态修正算法,该算法跟其他常用算法的区别是在旋转矢量计算上的处理不同,计算采用了多步骤Adams-Moulton方法.由于多步骤方法不能自行启动,所以在开始阶段采用了单步骤Heun's方法.然后,在实际计算值和预估值的基础上,建立了姿态修正运算法的评估误差方程.数字测试结果表明该四元数姿态修正算法在低频动态情况下是可靠的.
建立瞭捷聯慣性導航繫統的四元數姿態脩正算法,該算法跟其他常用算法的區彆是在鏇轉矢量計算上的處理不同,計算採用瞭多步驟Adams-Moulton方法.由于多步驟方法不能自行啟動,所以在開始階段採用瞭單步驟Heun's方法.然後,在實際計算值和預估值的基礎上,建立瞭姿態脩正運算法的評估誤差方程.數字測試結果錶明該四元數姿態脩正算法在低頻動態情況下是可靠的.
건립료첩련관성도항계통적사원수자태수정산법,해산법근기타상용산법적구별시재선전시량계산상적처리불동,계산채용료다보취Adams-Moulton방법.유우다보취방법불능자행계동,소이재개시계단채용료단보취Heun's방법.연후,재실제계산치화예고치적기출상,건립료자태수정운산법적평고오차방정.수자측시결과표명해사원수자태수정산법재저빈동태정황하시가고적.
The algorithm to update the attitude quaternion of strapdown inertial navigation system is developed and updating the attitude quaternion is separately considered the rotation vector calculation. The quaternion at current step is calculated by using multi steps Adams-Moulton Method. Since this multi-step method cannot be self-started, so the first initial 3 steps are computed by single-step Heun's method. And also develop the quaternion algorithm error equation using calculated value of the predictor and corrector stage of attitude algorithm. From the numerical test result of coning motion, the algorithm is exactly normalized and the algorithm drift rate is reliable for low frequency motion.
