Optimized method for strapdown attitude algorithm based on high-order polynomial iteration

被引：0
|
作者：
Liu X. [1 ,2 ]
Zhao M. [1 ,2 ]
Zhang Y. [1 ,2 ]
Guo X. [1 ,2 ]
Wang L. [3 ]
机构：
[1] Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology, Ministry of Education, Southeast University, Nanjing
[2] School of Instrument Science & Engineering, Southeast University, Nanjing
[3] College of Optical Science and Engineering, Zhejiang University, Hangzhou
来源：
Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2020年 / 28卷 / 06期
关键词：
Attitude updating; Cone motion; Higher-order polynomial; Rotation vector;
D O I：
10.13695/j.cnki.12-1222/o3.2020.06.005
中图分类号：
学科分类号：
摘要：
The algorithm (RVPI) in the literature "Accurate numerical solution for differential equation of equivalent rotation vector based on polynomial iteration" effectively avoided the principle error of the Bortz equation, however, the fitting accuracy of the angular velocity polynomial is still the key factor restricting the accuracy of the algorithm. In order to solve this problem, an improved method of angular velocity fitting polynomial is proposed. By introducing cone motion, the analytical relationship between the various derivatives of angular velocity is used to add constraint conditions, so that the order of the angular velocity fitting polynomial is increased from n-1 to n or n+1. Then it provides an accurate higher-order polynomial solution for the rotation vector, which accomplishing attitude updating effectively. Finally, under the cone motion and polynomial angular motion, the improved algorithm is compared with the traditional algorithm and RVPI algorithm. The results show that under the cone motion, the improved algorithm has similar accuracy characteristics as RVPI, compared to the traditional algorithm, but the accuracy of the improved algorithm is comprehensively improved compared to RVPI; under the polynomial angular motion, the improved algorithm has the same accuracy as RVPI. © 2020, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.
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页码：729 / 734and741
相关论文
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