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弹箭与制导学报 >

2020 , Vol. 40 >Issue 3: 39 - 44

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2020.03.010

圆锥运动下几种姿态算法的比较与误差建模

  • 熊丽娟 1, 2 ,
  • 朱洪涛 1 ,
  • 王志勇 1 ,
  • 曹娟华 1 ,
  • 周波 3
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  • 1 南昌大学机电工程学院, 南昌 330031
  • 2 南昌航空大学航空制造工程学院, 南昌 330063
  • 3 南昌航空大学测试与光电工程学院, 南昌 330063

熊丽娟(1979-),女,江西南昌人,讲师,博士,研究方向:惯性导航。

收稿日期: 2019-04-13

  网络出版日期: 2025-02-12

基金资助

国家自然科学基金(51468042)

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Comparison and Error Modeling of Several Attitude Algorithms Under Coning Motion

  • XIONG Lijuan 1, 2 ,
  • ZHU Hongtao 1 ,
  • WANG Zhiyong 1 ,
  • CAO Juanhua 1 ,
  • ZHOU Bo 3
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  • 1 School of Mechatronics Engineering, Nanchang University, Nanchang 330031, China
  • 2 School of Aeronautical Manufacturing Engineering, Nanchang Hangkong University, Nanchang 330063, China
  • 3 School of Measurement and Opoeletronic Engineering, Nanchang Hangkong University, Nanchang 330063, China

Received date: 2019-04-13

  Online published: 2025-02-12

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摘要

姿态确定技术在许多工程应用中至关重要,但常用姿态算法在不同场合下的性能表现尚未得到较系统的研究。文中针对4种常见高精度姿态算法进行了较全面的圆锥运动仿真实验研究,比较不同条件下4者的精度高低,并在一定范围内建立其姿态角误差模型。实验结果与误差模型均表明,不同条件下4者精度排序不同;其中以四子样旋转矢量法计算速度最快,在多数情况下综合性能表现最佳。

关键词： 姿态角; 四元数; 四子样旋转矢量; 四阶龙格库塔; 泰勒级数; 误差模型; 圆锥运动

本文引用格式

熊丽娟 , 朱洪涛 , 王志勇 , 曹娟华 , 周波 . 圆锥运动下几种姿态算法的比较与误差建模[J]. 弹箭与制导学报, 2020 , 40(3) : 39 -44 . DOI: 10.15892/j.cnki.djzdxb.2020.03.010

Abstract

Attitude determination technology is very important in many engineering applications, but the performance of common attitude algorithms in different situations has not been systematically studied. In this paper, comprehensive coning-motion simulation experiments are conducted for four common high-precision attitude algorithms. The accuracies of the four under different conditions are compared, and the attitude-angle error models of the four within a certain application range are established. Both the experimental results and the error models show that the accuracy order of the four is different under different conditions and the four-subsample rotation-vector method owns the highest calculation speed and the best comprehensive performance in most cases.

Key words： attitude angle; quaternion; four-subsample rotation vector; fourth order Runge-Kutta; Taylor series; error model; coning motion

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