角速率输入下的航姿算法研究

在某些航姿系统中，陀螺采用角速率信号输出，针对这种情况，作推导了几种航姿算法的圆锥运动误差表达式，并且在理论上比较了它们的误差。理论推导和随后的仿真都证明四元数航姿算法较为适合角速率信号输入。

Study of Navigation Attitude Algorithms for Angular Rate Input

In some attitude determining systems,the angular rates of gyros are used as their outputs. In this paper,the estimation errors of several algorithms under the condition of coning movement are derived.The error estimation equations provide a method to study the errors of these algorithms.Both theory derivation and the followed simulation show that quaternion algorithm is relatively effective when only angular rate signal is given.