对偶四元数更新算法在划船运动下的优化设计

适合于计算机执行的对偶四元数更新算法是实现对偶四元数捷联惯导系统功能的关键。为此，将螺旋矢量作为工具，在给出螺旋矢量求解方法的基础上，通过分析合理选择划船运动作为测试条件，以二子样为例对基于螺旋矢量的对偶四元数更新算法进行优化设计。与传统的划船误差优化补偿算法在性能上进行分析与对比，结果表明，对偶优化算法具有一定的性能优势，它不但从结构上将旋转运动与平移运动统一表征，而且使2类运动参数的估计精度达到一致最优。

Optimization Design of Dual Quaternion Update Algorithm Under Sculling Motion

In order to implement functions of the dual quaternion strapdown inertial navigation system, it is necessary to design dual quaternion update algorithms suitable for a navigation computer to execute. The optimization design of dual quaternion update algorithms by using screw vectors as the tool is presented in this paper. The solution of a screw vector is given and the typical sculling motion is chosen as the appropriate test condition by analysis. Then, as an example, the two-sample screw vector optimization algorithm for updating dual quaternions is derived. The presented dual optimization algorithm is compared with the conventional optimization algorithm for compensating sculling errors in the performance. It is shown that the dual optimization algorithm has the absolute superiority. It not only describes rotation and translation in a unified form, but also attains the optimal precision identically when estimating two kinds of motion parameters.