An Orientation Vector Algorithm Based on Improving Angle Increment Extraction
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摘要: 旋转矢量法应用于角速率陀螺时，将角速率转化为角增量产生了较大误差，为使旋转矢量法有效地应用于角速率陀螺的姿态解算，该文提供了一种改进的三子样旋转矢量法。该方法在经典三子样角增量提取算法上，增加了前后各1/3周期的节点，使得采样值更加有效利用。在不增加区间子样数的前提下，使每个有效节点至少被使用5次，大大降低了角速率向角增量转化的误差。仿真结果表明，该算法可以有效应用于角速率陀螺。Abstract: Application of orientation vector algorithm to angular rate gyro will bring about a big error in converting angular rate into angle increment. We offer an improved three-sample orientation vector algorithm for effectively applying orientation vector algorithm to inertial attitude calculation of the gyro. This improved algorithm uses more nodes in extra two 1/3 periods than the classical algorithm, which makes every available nodes to be used at least five times without adding sample number, leading to a significantly smaller error in converting angular rate into angle increment. Simulation results show that the proposed algorithm can be effectively applied to angular rate gyro.
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