CAJ | 학술논문

捷联惯性导航系统以数字平台代替了平台惯导的机械平台.所谓数字平台,即存储在导航计算机中的坐标变换矩阵.四元数和旋转矢量是用来描述捷联惯导系统姿态的两种常用方法.传统的线性误差模型如 psi 角误差模型、等效倾角误差模型,仅仅适用于误差角非常小的情况.对于误差角比较大的系统,误差模型变得非线性,由此引入旋转矢量误差模型.通过对加性四元数、乘性四元数以及旋转矢量误差模型的分析表明,三者是等价的,并且当误差角很小的时候,乘性四元数误差模型和旋转矢量误差模型可以退化为等效倾角误差模型.
첩련관성도항계통이수자평태대체료평태관도적궤계평태.소위수자평태,즉존저재도항계산궤중적좌표변환구진.사원수화선전시량시용래묘술첩련관도계통자태적량충상용방법.전통적선성오차모형여 psi 각오차모형、등효경각오차모형,부부괄용우오차각비상소적정황.대우오차각비교대적계통,오차모형변득비선성,유차인입선전시량오차모형.통과대가성사원수、승성사원수이급선전시량오차모형적분석표명,삼자시등개적,병차당오차각흔소적시후,승성사원수오차모형화선전시량오차모형가이퇴화위등효경각오차모형.
In strapdown inertial navigation system(SINS), the digital platform is the coordinate transformation matrix stored in the navigation computer, whose functions are the same as that of mechanical platform in the gimbaled navigation system. The quaternions and the rotation vector are two commom methods to describe the attitude of SINS. The conventional linearized error models, such as psi-angle model and the equivalent tilt (ET) model, are effective only for the systems with infinitesimal attitude errors. In this paper, the rotation vector error(RVE) model was introduced as a nonlinear error model for the systems with large attitude error. The attitude error models in terms of additive quaternion, multiplicative quaternion and rotation vector were presented respectively, and they were found to be equivalent among them. Besides, the multiplicative quaternion error model and the rotation vector error model can be reduced to ET model in case the system’s attitude errors are very small.