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在分析传统硬件增强角速率圆锥优化算法姿态解算精度的基础上,提出了一种改进的算法,对传统算法中的周期分量进行了二次优化.首先通过分析传统算法的各轴分量相对于旋转矢量变化量的真值以及理想值的误差来确定算法的姿态解算精度,然后根据经典圆锥运动建立二次优化的误差准则并推导了相应的二次优化系数,最后在不同的经典圆锥运动环境下对传统算法以及改进算法的姿态解算精度进行仿真对比.结果表明,对传统算法的姿态解算精度的分析是正确合理的,而且只需采用改进的三子样算法就可以获得与根据理想值得到的结果几乎完全一致的姿态解算精度.
Based on the analysis of the accuracy of the traditional hardware-enhanced angular velocity coning algorithm, an improved algorithm is proposed to optimize the periodic components in the traditional algorithm. The true value of rotation vector variation and the error of the ideal value to determine the algorithm’s attitude calculation accuracy, and then based on the classic conical motion to establish the second-order error criterion and derive the corresponding quadratic optimization coefficient, and finally in different classical conical motion Environment.The simulation results show that the accuracy of the attitude calculation of the traditional algorithm is correct and reasonable, and only the improved three-subsample algorithm can be used to obtain the accuracy of the algorithm The result of the ideal value is almost exactly the same as the attitude calculation accuracy.