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Single-subsample rotating vector posture method under angular rate input condition

A technology of input condition and rotation vector, applied in the field of navigation, can solve the problems of reducing the frequency of SINS attitude update, and the angle increment algorithm cannot be directly applied, etc.

Inactive Publication Date: 2014-04-30
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Problems solved by technology

[0005] In order to simultaneously solve the problem that the traditional multi-sample rotation vector attitude algorithm will reduce the update frequency of SINS attitude and the traditional angular increment algorithm cannot be directly applied to angular rate input, a single-sample rotation vector attitude method under the condition of angular rate input is proposed

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  • Single-subsample rotating vector posture method under angular rate input condition
  • Single-subsample rotating vector posture method under angular rate input condition
  • Single-subsample rotating vector posture method under angular rate input condition

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Embodiment Construction

[0029] The method of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0030] The principle of the classic rotation vector is as follows:

[0031] Let Q(t) be the attitude quaternion of the carrier coordinate system relative to the reference coordinate system, and q(h) be t k time to (t k +h) The quaternion of the coordinate system attitude change corresponding to the moment has the following relationship:

[0032] Q ( t k + h ) = Q ( t k ) ⊗ q ( h ) - - - ( 1 )

[0033] Let the rotation vector in, Represents the rotated angle, and u rep...

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Abstract

The invention discloses a single-subsample rotating vector posture method under angular rate input condition. The method is characterized in that a single-subsample algorithm is applied to an angular-rate-based conic error compensation algorithm based on an angular-rate-based multi-subsample rotating vector algorithm and an angular-increment-based single-subsample rotating vector algorithm, a conic error compensation item is fitted by specifically utilizing the angular rates at the current moment and the former N moments, the coefficient of an optimal compensation item is obtained by solving linear system of equations, and the angular rate input can be used for finishing the posture solving and maintaining the consistency of a solving frequency and a sampling frequency when a gyroscope only provides the angular rate. The error caused by extraction of the angular increment through the angular rate is avoided, and the posture updating frequency of the system is not reduced.

Description

technical field [0001] The invention belongs to the technical field of navigation, and in particular relates to an attitude calculation method applied to a strapdown inertial navigation system. Background technique [0002] Strap-down Inertial Navigation System (SINS) installs the accelerometer and gyroscope directly on the carrier, and calculates the attitude matrix in real time in the computer, that is, calculates the relationship between the carrier coordinate system and the navigation coordinate system. Therefore, the accelerometer information in the carrier coordinate system is converted into the information in the navigation coordinate system, and then the navigation calculation is performed. [0003] With the wider application of SINS, the requirements for its accuracy and dynamic performance are also getting higher and higher. The attitude update algorithm is the core of the strapdown inertial navigation algorithm, and the key problem to be solved is the rotation no...

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/16G01C21/20
Inventor 黄盼滕云龙张晓
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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