为解决传统姿态解算算法无法有效抑制不可交换误差的问题,利用旋转矢量推导出了大运载体小角度运动时的旋转四元数微分方程,并对该算法和加性误差四元数算法的姿态解算效果进行了比较实验。结果证明,在低动态过程中,旋转四元数算法不仅可以有效抑制不可交换误差,而且在大失准角环境下也能够有效工作,更具有算法计算量小、易实现和精度较高等优点。

In order to suppress non-commutable error which can't be decreased by traditional attitude calculation algorithms, a rotation quaternion differential equation which can be used in small angular motion of big vehicle was derived by means of rotation vector. Comparison between rotation quaternion algorithm and additive quaternion error algorithm was performed on attitude error calculated by each. The results prove that under low dynamic condition, the rotation quaternion algorithm can not only suppress the non-commutable error effectively, but also perform well under big misalignment angles, moreover, the approach has some important features such as less computation complexity, easier implementation and high precision.