基于最优控制的四元数据误差传播捷联矩阵算法分析

捷联系统中的比力、角速率的量测值都是沿船舶坐标系的，如欲求得船舶位置和姿态就应知道其在当地地理坐标系中的投影。无论从计算速度还是从计算精度上考虑，用四元数法得到捷联短阵比其他方法更为有利。该就四元数计算所引起的误差及其传播方式与四元数向量的正交计算进行了讨论，从而获得了一种捷联矩阵算法。

Research on Matrix in Strapdown Inertial Navigation System Based on Optimal Method for Quaternion

The acceleration and angle speed are all measured along the ship coordinate system. That means the position and attitude can be got from the projection of the quaternion along the earth coordinate system. The method of calculation of matrix in stapdown inertial system navigation is in any way the best and fast one comparing with other algorithm ways. The article presents a new way to the calculation of matrix by means of error analysis and orthogonal calculation of the quaternion.