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一种新的基于姿态四元数匹配的传递对准方法

Xin QI,Qin-su PENG,Chang-shan ZHAO,Fang-fang ZHANG

Yuhang Xuebao/Journal of Astronautics（2011）

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Abstract
设计了一种新的姿态四元数匹配传递对准方法,并以载机姿态四元数与弹体姿态四元数的四元数乘积作为量测量,推导了姿态四元数匹配量测方程.通过理论分析,得出了载机平台失准角、弹体平台失准角、弹体安装误差角和机翼颤振变形角为小量的情况下,这些量与量测量之间的关系.推导了传统的姿态角匹配传递对准方法量测方程,与之相比,姿态四元数匹配量测方法明显降低了计算量,并分别对两种姿态匹配方法进行了仿真,仿真结果表明:新的姿态四元数匹配方法与传统姿态匹配传递对准方法具有相同的精度.
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Key words
Attitude matching,Inertial navigation,Kalman filtering,Quaternion,Transfer alignment
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