捷联惯导系统两种速度更新算法的比较研究

对偶四元数是一种将平动与转动统一描述的运动参数，利用它求解捷联惯导系统(SINS)的速度参量，思路完全不同于传统的速度更新算法。对两种速度更新算法的解算过程进行了对比研究，从原理上明确了导致两种算法性能差别的原因，通过定义截断误差和近似积分误差，以二子样算法为例，对两种算法的精度差别进行了定性的分析，并作了定量的计算和推导，给出了定量的表征。研究结果表明：在高动态及大机动运动状态下，对偶四元数算法在精度上具有明显的优势。设置包含圆锥运动与划船运动的复杂、高动态测试条件，在理想情况下与实际情况下分别进行了仿真测试，测试结果验证了对偶四元数算法在整体性能上的显著优势。

Comparative Study of Two Velocity Update Algorithms for SINS

Both traditional and dual quaternion-based velocity update algorithms for strapdown inertial navigation system (SINS) are comparatively studied. The leading cause of difference in accuracy between the two algorithms is analyzed and determined in principle. By defining both truncation and approximate integral errors, the difference in accuracy can be not only described qualitatively but also computed quantitatively. The validity of theoretical analysis and derivation is verified through simulation testing. The significant superiority of the dual quaternion algorithm over the traditional one in accuracy is demonstrated through simulation results under highly-dynamic and large-maneuver conditions. Comparison results under both ideal and real dynamic conditions show that the dual quaternion algorithm is superior to the traditional one in overall performance.