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为了提高惯性/天文组合导航系统在高动态条件下的导航精度,提出了一种基于加性对偶四元数的惯性/天文组合导航算法.该算法将载体的旋转和平移统一起来,使用螺旋矢量更新对偶四元数,同时补偿圆锥误差和划船误差.推导了组合导航系统基于加性对偶四元数的误差模型和导航参数误差的计算方程;把陀螺仪和加速度计的常值误差扩充到状态变量中,随机误差作为系统噪声输入,利用星敏感器输出参数来校正陀螺漂移,通过卡尔曼滤波对状态变量进行估计.仿真结果表明:在高动态条件下,基于对偶四元数的惯性/天文导航算法的导航精度比传统算法提高2倍多.
In order to improve the navigation accuracy of inertial / astronomical navigation system under high dynamic conditions, an inertial / astronomical combined navigation algorithm based on additive dual quaternion is proposed, which combines the rotation and translation of the carrier with the help of spiral vector Update the dual quaternion and compensate for the conical error and the rowing error at the same time.Calculation equations of the error model and the navigation parameter error of the integrated navigation system based on the duality quaternion are deduced and the constant errors of the gyroscope and accelerometer are extended to the state In the variable, the random error is input as the system noise, the gyro drift is corrected by the output of the star sensor, and the state variables are estimated by Kalman filter.The simulation results show that under high dynamic conditions, the inertial / astronomical Navigation algorithm navigation accuracy than the traditional algorithm to improve more than 2 times.