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Research on in-light alignment error model based on quaternion and rotation vector

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Journal of Beijing Institute of Technology 2011年第3期20卷 331-338页

作者：徐国强孟秀云 School of Aerospace Engineering Beijing Institute of Technology

Euler angle error model, rotation vector error model （RVE） and quaternion error model （QE） were qualitatively and quantitatively compared and an in-flight alignment filter algorithm was designed. This algorithm used extended Kalman filter （EKF） based on RVE and QE separately avoi- ding the accuracy problem of the Euler angle model and used Rauch-Tung-Striebel（RTS） smoothing method to refine the accuracy recuperating the coning error for simplified RVE. Simulation results show that RVE and QE are more adapt for nonlinear filter estimation than the Euler angle model. The filter algorithm designed has more advantages in convergence speed, accuracy and stability comparing with the algorithm based on the three models separately.

关键词： error model quaternion in-flight alignment rotation vector

AN IMPROVED rotation vector ATTITUDE ALGORITHM FOR LASER STRAP-DOWN INERTIAL NAVIGATION SYSTEM

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Transactions of Nanjing University of Aeronautics and Astronautics 2003年第1期20卷 47-52页

作者：林雪原刘建业刘红南京航空航天大学导航研究中心

The laser gyro is most su it able for building the strap down inertial navigation system (SINS), and its acc uracy of attitude algorithm can enormously affect that of the laser SINS. This p aper develops three improved algorithmal expressions for strap down attitude ut ilizing the angular increment output by the laser gyro from the last two and cur rent updating periods according to the number of gyro samples, and analyses the algorithm error in the classical coning motion. Compared with the conventional algorithms, simulational results show that this improved algorithm has higher precision. A new way to improve the rotation vector algorithms is provided.

关键词： laser gyro strap down attitude algo rithm coning motion rotation vector error analysis quaternion

OPTIMIZED STRAPDOWN CONING CORRECTION ALGORITHM

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Transactions of Nanjing University of Aeronautics and Astronautics 2013年第4期30卷 343-349页

作者：黄磊刘建业曾庆化 Navigation Research Center Nanjing University of Aeronautics and Astronautics Automation Department Nanjing Forestry University

Traditional coning algorithms are based on the first-order coning correction reference *** they reduce the algorithm error of coning axis(z)by increasing the sample numbers in one iteration *** the increase of sample numbers requires the faster output rates of ***,the algorithms are often limited in practical ***,the noncommutivity error of rotation usually exists on all three axes and the increase of sample numbers has little positive effect on reducing the algorithm errors of orthogonal axes(x,y).Considering the errors of orthogonal axes cannot be neglected in the high-precision applications,a coning algorithm with an additional second-order coning correction term is developed to further improve the performance of coning *** with the traditional algorithms,the new second-order coning algorithm can effectively reduce the algorithm error without increasing the sample *** analyses validate that in a coning environment with low frequency,the new algorithm has the better performance than the traditional time-series and frequency-series coning algorithms,while in a maneuver environment the new algorithm has the same order accuracy as the traditional time-series and frequency-series ***,the practical feasibility of the new coning algorithm is demonstrated by digital simulations and practical turntable tests.

关键词： SINS rotation vector coning algorithm coning correctness

High Precise Attitude Updating Algorithm for SINS using Angular Rate

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High Precise Attitude Updating Algorithm for SINS using Angu...