| 船用捷联惯导系统姿态解算的研究 |
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| 引用本文： | 张家海,谢荣生,郝燕玲. 船用捷联惯导系统姿态解算的研究[J]. 电机与控制学报, 2000, 4(2): 74-76,97 |
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| 作者姓名： | 张家海 谢荣生 郝燕玲 |
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| 作者单位： | 哈尔滨工程大学自动化学院，黑龙江哈尔滨150001 |
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| 摘 要： | 以船舶为对象，研究了摇摆运动的捷联惯导姿态解算问题，分析了不可交换性误差产生的原因，提出了消除该误差的等效旋转矢量方法，仿真结果表明，等效旋转矢量方法提高了导航精度。
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| 关 键 词： | 姿态解算 捷联惯导系统 船舶 导航精度 |
| 文章编号： | 1007-449X(2000)02-0074-03 |
Research on attitude algorithm of ship strapdown inertial navigation system |
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| ZHANG Jia-hai,XIE Rong-sheng,HAO Yan-ling. Research on attitude algorithm of ship strapdown inertial navigation system[J]. Electric Machines and Control, 2000, 4(2): 74-76,97 |
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| Authors: | ZHANG Jia-hai XIE Rong-sheng HAO Yan-ling |
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| Abstract: | The attitude algorithm of ship strapdown inertial navigation system under the condition of swaying motion is studied. The cause of the noncommutativity error is also analysed, and the rotation vector is presented to decrease the error. The simulation results indicate that the rotation vector can greatly increase the attitude accuracy. |
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| Keywords: | SINS attitude algorithm quaternion noncommutativity error rotation vector |
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