本文選題：漁業(yè)　切入點(diǎn)：導(dǎo)航　出處：《農(nóng)業(yè)工程學(xué)報(bào)》2017年12期 　論文類型：期刊論文

【摘要】：針對(duì)傳統(tǒng)解析粗對(duì)準(zhǔn)算法中水平對(duì)準(zhǔn)精度同時(shí)受陀螺儀和加速度計(jì)測(cè)量誤差影響的問題,提出一種雙矢量定姿粗對(duì)準(zhǔn)算法,該算法在選定重力矢量為主參考矢量的前提下,預(yù)先對(duì)參與姿態(tài)解算的矢量作單位正交化處理。理論分析表明,所述算法使得水平對(duì)準(zhǔn)精度只受加速度計(jì)水平測(cè)量誤差影響,提高了捷聯(lián)慣導(dǎo)系統(tǒng)粗對(duì)準(zhǔn)精度;實(shí)測(cè)數(shù)據(jù)的試驗(yàn)結(jié)果表明,所述粗對(duì)準(zhǔn)算法的水平誤差角的大小不超過1°,方位誤差角的大小不超過3°,在粗對(duì)準(zhǔn)所要求的誤差范圍之內(nèi),為后續(xù)利用濾波方法進(jìn)行精對(duì)準(zhǔn)提供了有效的初始條件。
[Abstract]:Aiming at the problem that the accuracy of horizontal alignment is affected by the measurement errors of gyroscope and accelerometer simultaneously in the traditional analytical coarse alignment algorithm, a dual vector orientation coarse alignment algorithm is proposed, which is based on the selection of gravity vector as the main reference vector. The theoretical analysis shows that the accuracy of horizontal alignment is only affected by the level measurement error of accelerometer, and the coarse alignment accuracy of sins is improved. The experimental results show that the horizontal error angle and azimuth error angle of the rough alignment algorithm are less than 1 擄and 3 擄respectively. It provides an effective initial condition for fine alignment by filtering method.
【作者單位】： 中國農(nóng)業(yè)大學(xué)信息與電氣工程學(xué)院;江蘇師范大學(xué)電氣工程及自動(dòng)化學(xué)院;北京農(nóng)業(yè)物聯(lián)網(wǎng)工程技術(shù)研究中心;
【基金】：國家國際科技合作專項(xiàng)項(xiàng)目(2013DFA11320) 中央高�；究蒲袠I(yè)務(wù)費(fèi)專項(xiàng)資金資助項(xiàng)目(2016XD001)
【分類號(hào)】：TN96

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