摘要
姿态解算是惯性导航中的关键技术,旋转矢量法可以补偿转动的不可交换性误差。针对多子样旋转矢量算法会降低姿态更新频率的问题,本文提出了一种利用当前以及前一时刻角增量信息和当前以及前N个时刻角速率信息求解更新旋转矢量的单子样角速率旋转矢量姿态算法,并在传统的误差补偿系数圆锥优化方法的基础上,设计了周期项的算法系数优化准则,对周期项的误差补偿系数进行二次优化。实验结果表明,本文提出的角速率输入下二次优化的单子样旋转矢量姿态算法既具有较高的姿态解算精度,又可以将姿态更新频率提高至惯导采样频率,即与N子样旋转矢量算法相比姿态更新频率可提高N倍,具有一定的工程应用价值。
Attitude solution is a key technology in inertial navigation.The rotation vector algorithm can compensate for the non-commutability error of rotation.In order to solve the problem that the multi-sample rotation vector algorithm will decrease the attitude update frequency,this paper proposes a single-sample rotation vector attitude algorithm under angular rate input that uses the angular increment information of the current and previous time and the angular rate information of the current and previous N sampling times.On the basis of the traditional conic optimization method of error compensation coefficient,the algorithm coefficient optimization criterion of the periodic term is designed,and the error compensation coefficient of the periodic term is optimized twice.The experimental results show that the single-sample rotation vector attitude algorithm proposed in this paper with quadratic optimization under angular rate input not only has a high attitude solution accuracy,but also increases the attitude update frequency to the inertial navigation sampling frequency,that is,compared with the N sub-sample rotation vector algorithm,the attitude update frequency can be increased by N times,and has certain engineering application value.
作者
卢世昕
陈熙源
LU Shixin;CHEN Xiyuan(School of Instrument Science and Engineering,Southeast University,Nanjing 210000,China)
出处
《传感技术学报》
CAS
CSCD
北大核心
2020年第7期974-980,共7页
Chinese Journal of Sensors and Actuators
关键词
姿态解算
单子样
旋转矢量
周期项
二次优化
attitude solution
single-sample
rotation vector
periodic term
quadratic optimization
作者简介
卢世昕(1996-),男,硕士研究生,主要研究方向为惯性导航及组合导航,785352813@qq.com;通讯作者:陈熙源(1969-),男,博士生导师,长期从事导航仪器与系统技术及光纤传感领域的科研和教学工作,chxiyuan@seu.edu.cn。
