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基于欧拉角的李群捷联惯导误差模型分析与比较研究

ZHU Tiangao, LIU Yong, LI Kailong,ZHAO Renjie

Systems Engineering and Electronics（2023）

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Abstract
惯导姿态、速度状态量同时纳入一个群中,且按照误差的两种定义可构成李群左误差模型和右误差模型.针对基于欧拉角的两种李群误差模型进行了比较研究,分析了两种李群误差模型的差异.针对捷联惯性导航系统(strapdown inertial navigation system,SINS)/全球定位系统(global position system,GPS)和 SINS/多普勒计程仪(Doppler velocity log,DVL)两种典型组合导航系统应用,提出合适的误差模型选择方案.车载和船载实验结果表明,两种李群误差模型分别更适用于SINS/GPS和SINS/DVL组合导航系统,尤其是在大失准角条件下效果更为显著,两种李群误差模型具有更好的定位精度、收敛速度和稳定性.
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Key words
strapdown inertial navigation system(SINS),integrated navigation,error model,Lie group,Euler angle
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