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在捷联惯性导航系统中 ,陀螺仪的输出是迭代时间内载体的角增量的量化值 ;由其解算出的载体姿态存在不可交换性误差 ,该误差的大小与捷联姿态算法密切相关 .研究的目的在于选择适当的捷联算法 ,减小姿态算法中的不可交换误差 ,提高捷联算法的精度 .以鱼雷捷联惯性姿态基准为例 ,对四元数法的捷联姿态算法误差和基于等效旋转矢量的优化的三子样捷联姿态算法误差进行了分析比较 .数字仿真结果表明 ,三子样法比四元数法的捷联姿态算法精度高 7至 8个数量级 ,而前者的采样周期却低一个数量级 ,显著地提高了捷联姿态算法的精度 .
In the strapdown inertial navigation system, the output of the gyroscope is a quantized value of the angular increment of the carrier during the iteration time. The carrier attitude calculated by the solution has a non-exchangeable error, which is closely related to the strapdown attitude algorithm. The purpose of this study is to select the appropriate strapdown algorithm, to reduce the non-exchangeable error in the gesture algorithm and to improve the accuracy of the strapdown algorithm.Using the torpedo strapdown inertial attitude benchmark as an example, the error of the strapdown attitude algorithm Based on the equivalent rotation vector, the error of the optimized three-subsampled strapdown attitude algorithm is analyzed and compared. The numerical simulation results show that the accuracy of the strapdown attitude algorithm is three to eight orders of magnitude higher than the quaternion method, The sampling period is an order of magnitude lower, significantly improving the accuracy of the strapdown attitude algorithm.