A New Calculation Method of Quaternion Differential Equation for Attitude of Strapdown Inertial Navigation System

doi:10.3969/j.issn.1000-1093.2018.03.013

Abstract

Abstract: A new calculation method of quaternion differential equation, which is called three-subsample quaternion algorithm, is presented to solve the problem of low calculation accuracy of traditional quaternion algorithm by using the calculation process of three-subsample rotation vector algorithm for reference. In the calculation process, the higher derivative of rotation quaternion is calculated on the basis of quaternion differential equation, the angular velocity of carrier is fitted by the parabola, the expression is given for angular increment, and then a model for calculating quaternion differential equation is established by means of the Taylor expansion of rotation quaternion. The simulated result indicates that the three-subsample quaternion algorithm is better than three-subsample rotation vector algorithm. Key

Key words: strapdowninertialnavigationsystem, three-subsamplequaternionalgorithm, rotationvectoralgorithm, Taylorseries

CLC Number:

TJ765.1

ZHOU Zhao-fa, HU Wen, ZHANG Zhi-li, XU Zi-hao, CHEN He. A New Calculation Method of Quaternion Differential Equation for Attitude of Strapdown Inertial Navigation System[J]. Acta Armamentarii, 2018, 39(3): 511-518.

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第39卷
第3期2018 年3月兵工学报ACTA
ARMAMENTARIIVol.39No.3Mar.2018

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