北京航空航天大学学报 ›› 2013, Vol. ›› Issue (6): 739-744.

• 论文 • 上一篇    下一篇

基于加性对偶四元数的惯性/天文组合导航算法

钱华明1, 孙龙1, 黄蔚1, 刘璇2   

  1. 1. 哈尔滨工程大学 自动化学院, 哈尔滨 150001;
    2. 黑龙江科技学院, 电气与信息工程学院, 哈尔滨
  • 收稿日期:2012-06-18 出版日期:2013-06-30 发布日期:2013-06-23
  • 基金资助:
    国家自然科学基金资助项目(61104036)

SINS/CNS integrated navigation algorithms based on dual quaternion

Qian Huaming1, Sun Long1, Huang Wei1, Liu Xuan2   

  1. 1. College of Automation, Harbin Engineering University, Harbin 150001, China;
    2. College of Electrical and Information Engineering, Heilongjiang Institute of Science and Technology, Harbin 150027, China
  • Received:2012-06-18 Online:2013-06-30 Published:2013-06-23

摘要: 为了提高惯性/天文组合导航系统在高动态条件下的导航精度,提出了一种基于加性对偶四元数的惯性/天文组合导航算法.该算法将载体的旋转和平移统一起来,使用螺旋矢量更新对偶四元数,同时补偿圆锥误差和划船误差.推导了组合导航系统基于加性对偶四元数的误差模型和导航参数误差的计算方程;把陀螺仪和加速度计的常值误差扩充到状态变量中,随机误差作为系统噪声输入,利用星敏感器输出参数来校正陀螺漂移,通过卡尔曼滤波对状态变量进行估计.仿真结果表明:在高动态条件下,基于对偶四元数的惯性/天文导航算法的导航精度比传统算法提高2倍多.

Abstract: In order to improve the navigation precision of strapdown inertial navigation systems/celestial navigation systems (SINS/CNS) integrated navigation system in high dynamic conditions, a SINS/CNS integrated navigation algorithm which based on the additive dual quaternion was proposed. The rotation and translation of carrier were unified by this algorithm, and the rotation vector was used to update dual quaternion and compensate coning error and sculling error at the same time. And derived error model based on the additive dual quaternion and error equations of navigation parameters. Then the constant errors of gyro and accelerometer were extended to be state variables, at the same time random error was used as the system input noise, and gyro drift was corrected by output parameters of star sensors. Finally, Kalman filter was used to estimate the state variables. The simulation results showed that the navigation precision of SINS/CNS integrated navigation algorithm based on the additive dual quaternion is increased by two times more than traditional algorithm in high dynamic conditions.

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