| 捷联惯导系统四元数转换误差分析 |
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| 引用本文： | 毛克诚,孙付平.捷联惯导系统四元数转换误差分析[J].测绘学院学报,2006(4). |
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| 作者姓名： | 毛克诚 孙付平 |
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| 作者单位： | 信息工程大学测绘学院 河南郑州450052 |
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| 基金项目： | 河南省普通科技攻关项目(0524220017) |
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| 摘 要： | 捷联惯性导航系统中,根据四元数与直余弦矩阵的关系可以得到3种转换矩阵。充分分析了这3种转换方案所产生的误差。并在恒定角速率下对3种不同转换矩阵中漂移误差、不对称误差和刻度误差进行评估,最后通过仿真验证了分析结果。
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| 关 键 词： | 四元数 直余弦矩阵 不对称误差 刻度误差 漂移误差 |
Error Analysis of Quaternion Transformations Applied in Strapdown Inertial Navigation |
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| MAO Ke-cheng,SUN Fu-ping.Error Analysis of Quaternion Transformations Applied in Strapdown Inertial Navigation[J].Journal of Institute of Surveying and Mapping,2006(4). |
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| Authors: | MAO Ke-cheng SUN Fu-ping |
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| Abstract: | Quaternion was widely used in strap-down inertial systems,and the resolving errors of attitude caused by quaternion was attracting many attentions.Three transformation formulas were derived from the quaternion to the direction cosine matrix and transformation errors associated with these formulas were fully analyzed.The skew error,scale error and drift error were simulated and evaluated under constant angular velocity among three different transformations.Some useful conclusions were achieved. |
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| Keywords: | quaternion the direction cosine matrix scale error drift error skew error |
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