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本文综述了捷联式姿态计算中四元数速率方程的积分过程出现的几种主要误差,特别是漂移误差与比例误差。并从减小或消除这些误差的角度上讨论了使四元数最优化的方法。最后讨论了交换误差,即由有限转动的不可交换性引起的,出现在速率信号提取过程中的误差。特别是定义了最终姿态改变的特征参数,得出了最终姿态改变的计算公式,所提方法和公式可方便地用于交换误差的估算。
This paper summarizes several main errors that occur in the integral process of the quaternion velocity equation in strapdown attitude calculation, especially the drift error and the proportional error. The method of optimizing quaternions is discussed from the viewpoint of reducing or eliminating these errors. Finally, we discuss the exchange error, which is caused by the non-exchangeability of finite rotation and appears in the process of extracting the rate signal. In particular, the characteristic parameters of final attitude change are defined, and the final attitude change formula is obtained. The proposed method and formula can be conveniently used for the estimation of exchange error.