基于罗德里格矩阵变换的水下导航系统校准算法研究

针对多正交信号水下导航系统在系统校准时无姿态先验知识的问题，提出采用罗德里格矩阵变换法的系统校准算法，进行发射端的姿态角估计。该方法解决了传统非线性最小二乘法初始值误差过大会导致算法无法收敛的问题，同时不需要非线性近似，避免了线性化带来的误差，计算简便、高效，且没有角度大小的限制，适用范围广。湖试结果表明，系统校准方法无需先验信息，比最小二乘估计法具有更高的估计精度。

Calibration Algorithm for Underwater Navigation System Based on Rodrigues Matrix Transformation

In order to solve the problem that multi-orthogonal signal underwater navigation system has no prior knowledge of attitude in system calibration, a system calibration algorithm based on Rodriguez matrix transformation is proposed to estimate the attitude angle of transmitter. The proposed method is used to solve the problem that the initial error of the traditional non-linear least squares method is too large to lead to the convergence of the algorithm. In the proposed method, the non-linear approximation is not required to avoid the error caused by linearization, and the calculation is simple and efficient. It has no limitation on angle size and has a wide range of applications. The lake trial results show that the estimation accuracy of the proposed method is higher than that of the least square estimation method without prior information. Key