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首页> 外文期刊>International Journal of Innovative Computing Information and Control >A NEW SECOND-ORDER STRAPDOWN ATTITUDE ALGORITHM
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A NEW SECOND-ORDER STRAPDOWN ATTITUDE ALGORITHM

机译：一种新的二阶分解姿态算法

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摘要

Typically coning motion has been used as a standard input to assess the performance of the strapdown attitude algorithms. Traditional coning algorithms are based on the Bortz's first-order rotation vector equation. The algorithm error is composed of two parts: drift error and approximation error. For the three (or more)-sample coning algorithms, calculation indicates that approximation error is far larger than drift error for the most general case, which means the approximation error should be reduced firstly. The existing coning algorithms generally increase the sample numbers to reduce drift error, but the increment of the sample numbers has little positive effect on reducing approximation error. To improve the algorithm performance, a new coning algorithm with an additional second-order coning correction term has been developed, which can effectively reduce the approximation error without increasing sample numbers. Simulations and practical tests demonstrate that the new algorithm is superior to the traditional coning algorithms for the general case. Although the new algorithm has increased a little computational load, practical test results validate that with the rapid development of the computer speed, the new second-order strapdown attitude algorithm still satisfies the real-time requirement.
机译：通常，圆锥运动已用作评估捷联姿态算法性能的标准输入。传统的圆锥算法基于Bortz的一阶旋转矢量方程。算法误差由两部分组成：漂移误差和逼近误差。对于三种（或更多）样本锥化算法，计算表明在大多数情况下逼近误差远大于漂移误差，这意味着应首先减小逼近误差。现有的圆锥算法通常增加样本数以减小漂移误差，但是样本数的增加对减小近似误差几乎没有积极作用。为了提高算法性能，开发了带有附加二阶锥校正项的新锥算法，该算法可以在不增加样本数量的情况下有效地降低近似误差。仿真和实际测试表明，对于一般情况，该新算法优于传统的锥面算法。尽管新算法增加了一点计算量，但实际测试结果证明，随着计算机速度的飞速发展，新的二阶捷联姿态算法仍能满足实时性要求。

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  • 作者

    Lei Huang; Jianye Liu; Qinghua Zeng; Zhi Xiong;

  • 作者单位

    Navigation Research Center Nanjing University of Aeronautics and Astronautics No. 29, Yudao Street, Nanjing 210016, P. R. China,Automation Department Nanjing Forestry University No. 159, Longpandong Road, Nanjing 210016, P. R. China;

    Navigation Research Center Nanjing University of Aeronautics and Astronautics No. 29, Yudao Street, Nanjing 210016, P. R. China;

    Navigation Research Center Nanjing University of Aeronautics and Astronautics No. 29, Yudao Street, Nanjing 210016, P. R. China;

    Navigation Research Center Nanjing University of Aeronautics and Astronautics No. 29, Yudao Street, Nanjing 210016, P. R. China;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    Inertial navigation; Coning algorithm; Approximation error; Drift error;

    机译：惯性导航;圆锥算法;近似误差;漂移误差;

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