刚体有限旋转矢量近似方程的解析解及其在捷联惯导系统定位算法中的应用

2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS) Pub Date : 2019-05-01 DOI:10.23919/ICINS.2019.8769438

A. V. Molodenkov, S. Perelyaev, Y. Sapunkov, T. Molodenkova

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引用次数: 2

摘要

对刚体有限旋转矢量近似方程的解析解，使用正交法确定刚体任意角速度和小旋转角时的刚体定向四元数问题成为可能。在此基础上，提出了一种新的捷联惯导姿态计算算法的设计思路。

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Analytical Solution of an Approximate Equation for the Vector of a Rigid Body Finite Rotation and its Application to Construct the Algorithm for Determining the Strapdown INS Orientation

The analytical solution of an approximate equation for the vector of a rigid body finite rotation has made it possible to solve the problem of determining the quaternion of orientation of a rigid body for an arbitrary angular velocity and small angle of rotation of a rigid body with the help of quadratures. Proceeding from this solution, the following approach to the design of a new algorithm for computation of strapdown INS orientation is proposed.

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2019 26th Saint Petersburg International Conference on Integrated Navigation Systems (ICINS)

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