一种抑制算法漂移率的四子样旋转矢量优化算法

针对高动态环境下，载体高速旋转会产生不可交换误差而影响姿态解算的精度，研究了基于旋转矢量法的捷联惯导姿态更新算法，在传统的四子样旋转矢量算法的基础上，通过引入前一更新周期的角增量改进算法以减少算法漂移率。推导了圆锥运动条件下利用前一更新周期角增量的四子样旋转矢量优化算法，确定了优化算法的表达式。选择圆锥运动为初始的输入条件进行仿真，并与传统的四子样算法进行比较，结果表明，该算法的漂移率减小，精度提高，适合高动态环境姿态更新计算。

An optimal four-sample rotation vector algorithm for suppressing the algorithm drift rate

Under high dynamic circumstances, the non-commutativity error generated by the high speed rotating vehicle will influence the accuracy of attitude calculation. This paper mainly studies the attitude updating in strapdown inertial navigation system based on rotation vector algorithm. On the basis of the traditional four-sample rotation vector algorithm, the algorithm is improved to reduce the algorithm drift rate by introducing the incremental angle in the previous update. The four - sample rotation vector optimization algorithm using the previous incremental angle is deduced under the coning motion condition, and the expression of optimization algorithm is established. The coning motion has been chosen as initial condition for simulation, compared with the traditional four-sample rotation vector algorithm. The result shows that the drift rate of the optimization algorithm is reduced ; the accuracy is improved, and it is fit for the attitude updating calculation under the high dynamic circumstances.