摘要
捷联惯导系统开始导航解算时需要初始对准,工程中常用的静基座初始对准方法有基于克雷洛夫角的静基座初始对准、基于克雷洛夫角的四元数初始对准。前者由于需要首先求解克雷洛夫角,因此存在与旋转顺序相关和不能全姿态工作的问题;后者需要首先求解克雷洛夫角,然后求解四元数,因此同样存在不能全姿态工作的问题。针对上述问题,提出了一种避免求解克雷洛夫角,直接通过四元数姿态变换矩阵求得姿态四元数的初始对准方法。仿真验证结果表明:四元数直接求解初始对准方法可以完成捷联系统静基座初始对准,克服与旋转顺序相关的问题,并且可以实现全姿态初始对准。
It is necessary to perform initial alignment before using SINS, immobile platform initial alignment based on Krylov angle is usually used in project. However, the method is associated with order of rotation, and is unable to be used in all attitude calculation. The other method used in attitude calculation is quaternion initial alignment based on Krylov angle. As it needs to calculate the Krylov angle at the first step, and then calculate quaternion, therefore this method is also unable to be used in all attitude calculation. In order to solve this problem, a new method that can avoid calculating Krylov angle and directly obtain quaternion through attitude transform matrix is proposed. The simulation result shows that the new method can complete initial alignment in SINS and is independent of order rotation, and also can be used in all attitude initial alignment.
出处
《导弹与航天运载技术》
北大核心
2013年第6期60-63,共4页
Missiles and Space Vehicles
基金
民用航天专业技术预先研究项目(D010101)
关键词
捷联惯导系统
静基座初始对准
克雷洛夫角
四元数
Strapdown inertial navigation system （SINS）
Immobile platform initial alignment
Krylov angle
Quatemion
