一种基于二次优化的改进圆锥算法

提出了一种改进的圆锥优化算法,对传统圆锥优化算法的周期项进行了二次优化.首先,根据经典圆锥运动建立了二次优化的误差准则；其次,给出了推导二次优化补偿系数以及相应的残留误差的一般方法;最后,在不同的经典圆锥运动环境下对三例改进算法的姿态解算误差进行了仿真验证.结果表明,通过改进的四子样和五子样算法得到姿态解算精度与通过旋转矢量变化量的理想值得到的结果几乎完全一致.此外,由于比改进的五子样算法少一次叉乘和两次加法运算,而且仿真速度大约快14％,所以改进的四子样算法更值得推荐采用.

An improved coning algorithm based on second optimization

An improved optimal coning algorithm is proposed,which makes a second optimization on the periodic terms in the conventional algorithm.First,an error criterion for the second optimization is established according to the classical coning motion.Then a general method is presented for deriving the compensation coefficients and the corresponding residual errors of the second optimization.Numerical simulations are carried out in the classical coning environments.The results verify that the accuracies of attitude computation based on the improved four-sample and five-sample algorithms are almost the same as what acquired from the theoretical value of the change of rotation vector.Moreover,compared with the improved five-sample algorithm,the improved four-sample algorithm requires one cross-product and two additions less in computation and is about 14% faster in simulation speed.So the improved four-sample algorithm is more worth recommending.