论文部分内容阅读
针对无陀螺捷联惯导系统姿态解算随时间不断积累的问题,提出一种磁强计辅助无陀螺捷联惯导的组合方案,利用磁强计测量的地磁信息来修正无陀螺惯导系统的姿态角误差,提高了姿态角的解算精度。推导了磁强计输出和姿态角之间的关系,在此基础上提出了一种姿态优化算法,介绍了算法的基本原理;建立了误差四元数的姿态组合模型,并采用反馈校正完成动态条件下姿态的确定;最后对姿态误差角进行了仿真研究,仿真结果表明该方法有效地抑制了误差的发散。
Aiming at the problem that the attitude of SINS is continuously accumulated over time, a combination of magnetometer-assisted gyroscope strapdown inertial navigation (SINS) is proposed. The geomagnetic information measured by magnetometer is used to correct gyro-inertial navigation system Of the attitude angle error, improve the attitude angle of the solution accuracy. The relationship between magnetometer output and attitude angle is deduced. Based on this, an attitude optimization algorithm is proposed, and the basic principle of the algorithm is introduced. An attitude combination model of error quaternion is established, and the feedback correction is used to complete the dynamic The attitude is determined. Finally, the attitude error angle is simulated. The simulation results show that this method can effectively suppress the divergence of the error.