| 捷联惯导姿态算法的测试输入研究 |
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| 引用本文： | 魏小莹,付振宪,邓正隆. 捷联惯导姿态算法的测试输入研究[J]. 中国惯性技术学报, 2006, 14(1): 1-6 |
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| 作者姓名： | 魏小莹 付振宪 邓正隆 |
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| 作者单位： | 1. 哈尔滨工业大学控制科学与工程系,哈尔滨150001;中国人民解放军96411部队,宝鸡721006
2. 哈尔滨工业大学控制科学与工程系,哈尔滨150001 |
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| 摘 要： | 总结了经典圆锥运动、广义圆锥运动、规则进动运动、随机角运动、温和环境等捷联姿态算法的测试输入及各自评价姿态算法性能的标准。推导出了不同频率的圆锥运动的角速率，并考查了其不可交换性误差特性，证明在此输入下算法的性能可以由经典圆锥运动来反映。提出了沿参考坐标系方向的圆锥运动，推导出了机体的角速率，并对其不可交换性误差进行了仿真研究。最后给出了在此输入下姿态算法的评价方法。沿参考坐标系方向的圆锥运动是一种新的更为普遍的测试输入。
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| 关 键 词： | 捷联惯导 姿态算法 测试输入 圆锥运动 |
| 文章编号： | 1005-6734(2006)01-0001-06 |
| 收稿时间： | 2005-12-10 |
| 修稿时间： | 2005-12-10 |
Research on Test Inputs for Attitude Algorithms of SINS |
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| WEI Xiao-ying,FU Zhen-xian,DEN Zheng-long. Research on Test Inputs for Attitude Algorithms of SINS[J]. Journal of Chinese Inertial Technology, 2006, 14(1): 1-6 |
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| Authors: | WEI Xiao-ying FU Zhen-xian DEN Zheng-long |
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| Affiliation: | 1. Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China; 2. PLA Corps 96411, Baoji 721006, China |
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| Abstract: | Test inputs for attitude algorithm of SINS and the evaluating criterion of each attitude algorithm are summarized, such as in pure coning motion, generalized coning motion, regular precession, stochastic angular motion, and benign environment. The regular rate of two-frequency coning motion is derived, and the noncommutativity error is analyzed. Algorithm performance under two-frequency can be evaluated by pure coning motion. Coning motion in reference frame is put forward, then the regular rate is derived, the noncommutativity error is studied by simulation, and the method of evaluating algorithm is provided. Coning motion in reference frame is a new and more universal test input for attitude algorithm. |
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| Keywords: | SINS attitude algorithm test input coning motion |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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