CAJ | 학술논문

在捷联惯导系统中，姿态更新算法会对导航精度产生至关重要的影响。旋转矢量法在抑制不可交换性误差及其累积效应方面具有显著的优点。为兼顾姿态解算的实时性与精确性，文中基于旋转矢量双子样算法原理推导其误差补偿项，并进行了圆锥运动环境下的算法优化，以提高算法的动态适应性，从而形成了优化的旋转矢量双子样算法。最后通过与传统四元数法进行对比分析，表明在捷联惯导姿态解算中，采用优化旋转矢量双子样算法不仅可较好满足系统实时性要求，同时还能较明显地提高解算精度。
재첩련관도계통중，자태경신산법회대도항정도산생지관중요적영향。선전시량법재억제불가교환성오차급기루적효응방면구유현저적우점。위겸고자태해산적실시성여정학성，문중기우선전시량쌍자양산법원리추도기오차보상항，병진행료원추운동배경하적산법우화，이제고산법적동태괄응성，종이형성료우화적선전시량쌍자양산법。최후통과여전통사원수법진행대비분석，표명재첩련관도자태해산중，채용우화선전시량쌍자양산법불부가교호만족계통실시성요구，동시환능교명현지제고해산정도。
Attitude updating algorithm has a profound impact on the navigation accuracy in the strapdown inertial navigation system ( SINS) .Restraining the noncommutativity error and error accumulation is a remarkable effect of the rotation vector algorithm .Taking the real-time and accuracy of attitude update into consideration , this pa-per deduces the details of error compensation term based on the theory of twin-sample rotation vector and the cal-culation results are optimized in the conning motion to improve the dynamic adaptability of the algorithm , forming a new improved twin-sample rotation vector algorithm .The experiment shows that the improved twin-sample rota-tion vector algorithm is much stronger in meeting the real-time and accuracy requirements than the traditional quaternion algorithm in the field of attitude update of SINS .