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| 北斗双星／SINS组合导航中的捷联惯导算法研究 | |
| 引用本文： | 戴邵武,马长里,代海霞. 北斗双星／SINS组合导航中的捷联惯导算法研究[J]. 计算机与数字工程, 2010, 38(2): 1-3,10 |
| 作者姓名： | 戴邵武 马长里 代海霞 |
| 作者单位： | 1. 海军航空工程学院控制工程系,烟台,264001 2. 海军航空工程学院研究生管理大队,烟台,264001 3. 北京清华同方工业有限公司,北京,100083 |
| 基金项目： | 国家自然科学基金项目(编号:60874112)资助 |
| 摘 要： | 摘要针对北斗双星／SINS组合导航系统，研究了捷联惯导的姿态和速度更新算法。将等效旋转矢量算法应用与姿态解算，消除了传统的四元数算法存在的不可交换性误差对导航精度的影响，并对速度解算中的划浆误差进行了补偿。将算法应用到北斗双星／捷联惯导组合导航系统，通过实际的跑车实验验证算法的有效性。 |
| 关 键 词： | 姿态更新 速度更新 旋转矢量 划浆误差 组合导航 |
Algorithm Research of Strapdown Inertial Navigation System in Beidou/SINS Integrated Navigation |
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| Dai Shaowu Ma Changli Dai Haixia. Algorithm Research of Strapdown Inertial Navigation System in Beidou/SINS Integrated Navigation[J]. Computer and Digital Engineering, 2010, 38(2): 1-3,10 | |
| Authors: | Dai Shaowu Ma Changli Dai Haixia |
| Affiliation: | Department of Control Engineering/a>;Naval Aeronautical and Astronautical University1;Graduate Student' Brigade/a>;Naval Aeronautical and Astronautical University2;Tsing Hua Tong Fang Industry Ltd.3 |
| Abstract: | Aiming at Beidou/SINS integrated navigation system,attitude and velocity updating algorithm of SINS are researched.Using the equivalent rotation vector to attitude updating eliminating unexchanging error which quaternion algorithm bring up to navigation precision,and compensate the sculling error in velocity updating.Using this algorithm to Beidou/SINS integrated navigation system.Validating its availability by dynamic experiment. |
| Keywords: | rotation vector attitude updating velocity updating sculling error inertial navigation |
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