圆锥运动及其影响的3种描述方法

余杨; 张洪钺

圆锥运动及其影响的3种描述方法

余杨,
张洪钺

北京航空航天大学自动化科学与电气工程学院, 北京 100191

基金项目: 国家安全重大基础研究资助项目(61334)

详细信息

中图分类号: U 666.1
计量
- 文章访问数: 3492
- HTML全文浏览量: 156
- PDF下载量: 2271
- 被引次数: 0
出版历程
- 收稿日期: 2007-07-17
- 网络出版日期: 2008-08-31

Three descriptions of coning motion and its influence

School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

摘要

摘要: 从旋转矢量方法、欧拉角方法及刚体有限转动方法出发对圆锥运动及其影响进行了阐述,得到了各方法下的等效陀螺漂移公式以及三者之间的关系;并对圆锥补偿算法在每种方法下的补偿效果进行了研究.结果表明: 刚体有限转动方法与旋转矢量方法是完全等价的,欧拉角方法仅在小角度振动情况下与它们等价;圆锥补偿算法在旋转矢量方法和欧拉角方法下均有效,并在振动角较小时补偿效果一致.旋转矢量方法和刚体有限转动方法重点在于圆锥补偿算法的开发,而欧拉角方法重点则在于指导圆锥运动转台实验设计以验证圆锥补偿算法.
- 圆锥运动 /
- 等效陀螺漂移 /
- 旋转矢量 /
- 欧拉角 /
- 有限转动
Abstract: Basing on rotation vector method, Euler angles method and finite rotations method, the coning motion and its influence were discussed. Then the expressions of equivalent gyro drift in each method and their relationship were obtained. At last compensate precision of two-intervals coning compensate algorithm was researched in each method. The results show that finite rotations method and rotation vector method are equivalent absolutely. Euler angles method and rotation vector method are equivalent only when oscillation angles are small. Coning compensate algorithms are effectual both in rotation vector method and Euler angles method, and besides, compensate precisions are equivalent when oscillation angles are small. Rotation vector method and finite rotations method can be used to design coning compensation algorithms and Euler angles method can be used to design the test of the coning motion.
- coning motion /
- equivalent gyro drift /
- rotation vector /
- Euler angles /
- finite rotations

HTML全文

参考文献(1)

[1] Bortz J E.A new mathematical formulation for strapdown inertial navigation[J].IEEE Transactions on Aerospace and Electronic Systems,1971,AES-7(1):61-66 [2] Joos D K.Real time gyro error compensation in strapdown systems Sorg H.Symposium Gyro Technology Conference Proceedings.Stuttgart,Germany:Universitt Stuttgart,1983: 18.1-18.22 [3] Mckern R,Musoff H. Strapdown attitude algorithms from a geometric viewpoint .AIAA81-4311,1981 [4] 王养柱,崔中兴.捷联惯导系统圆锥补偿算法研究[J].北京航空航天大学学报,2001,27(3):264-267 Wang Yangzhu,Cui Zhongxi.Research on coning compensation algorithms for SINS[J].Journal of Beijing University of Aeronautics and Astronautics,2001,27(3):264-267(in Chinese) [5] 刘危,解旭辉,李圣怡.捷联惯导系统的圆锥误差补偿算法研究[J].南京航空航天大学学报, 2004,36(3):348-352 Liu Wei,Xie Xuhui,Li Shengyi.Coning algorithm for strapdown inertial navigation system[J].Journal of Nanjing University of Aeronautics & Astronautic,2004,36(3):348-352(in Chinese) [6] Blankinship K. A new kinematic theorem for rotation motion [J]. IEEE,2004:285-295 [7] 刘道静,李立新,纪志农,等. 李萨如图在捷联惯导系统圆锥误差估计中的应用[J].中国惯性技术学报,2005,13(3):61-63 Liu Daojing,Li Lixin,Ji Zhinong, et al. Application of lissajous figures in SINS-s coning error estimation[J].Journal of Chinese Inertial Technology,2005,13(3):61-63(in Chinese) [8] 魏晓虹,张春熹,朱奎宝.一种高精度角速率圆锥补偿算法[J].北京航空航天大学学报,2005,31(12):1312-1316 Wei Xiaohong,Zhang Chunxi,Zhu Kuibao. High accuracy coning compensate algorithm by angular velocity[J].Journal of Beijing University of Aeronautics and Astronautics,2005,31(12): 1312-1316(in Chinese)

施引文献

资源附件(0)

访问统计