CAJ | 학술논문

高动态条件下，传统圆锥补偿算法存在不可交换性误差。为抑制圆锥误差，提出了基于角速率输出的等效旋转矢量三子样二次迭代优化算法；并采用修正型罗德里格斯参数进行更新，推导了相应的圆锥补偿算法方程和表达式。在不同圆锥运动频率下和不同更新频率下，仿真验证得出了改进算法在精度和稳定性方面均较四元数法、三子样算法均有提高。实测结果表明，改进算法受圆锥半角、圆锥运动频率的影响较小，在高动态条件下较传统算法性能更优。
고동태조건하，전통원추보상산법존재불가교환성오차。위억제원추오차，제출료기우각속솔수출적등효선전시량삼자양이차질대우화산법；병채용수정형라덕리격사삼수진행경신，추도료상응적원추보상산법방정화표체식。재불동원추운동빈솔하화불동경신빈솔하，방진험증득출료개진산법재정도화은정성방면균교사원수법、삼자양산법균유제고。실측결과표명，개진산법수원추반각、원추운동빈솔적영향교소，재고동태조건하교전통산법성능경우。
Under high dynamic condition, in the operation process of traditional coning error compensation algo-rithm noncommutativity errors are existed.To suppress the coning error, the three-sample-and-two-time iteration al-gorithm of equivalent rotation vector based on angular rate, was proposed used, and deduced the expression of co-ning error compensation algorithm.Under different coning motion frequency and update frequency, simulation vali-dation shows this algorithm had advantages in accuracy and stability than quaternion and three sub-sample algo-rithms.Experimental results show that the influence of coning motion frequency and cone angle on this algorithm is less, this algorithm is better than traditional algorithm under high dynamic condition.