Strapdown posture position integrated updating algorithm based on spiral vector

Abstract

The invention relates to a strapdown inertial navigation algorithm, in particular to a strapdown posture position integrated updating algorithm based on spiral vector for solving the problems of a traditional strapdown inertial navigation algorithm that the integrity of a rigid body in spatial motion is destroyed, the complexity of algorithm design and implementation is increased and the requirement of high-resolving precision in a high-rotation environment is difficult to meet. The strapdown posture position integrated updating algorithm comprises the following steps: (1) solving spiral vector increment of the rigid body relative to an inertial reference coordinate system within a period from tk to tk plus H according to the angular velocity and the specific force of the rigid body; (2) solving updated dual quaterion of the rigid body within the period from tk to tk plus H according to the spiral vector increment; (3) updating posture position dual quaterion of the rigid body in real time according to the updated dual quaterion; and (4) solving the translation vector of the rigid body relative to the inertial reference coordinate system at the moment of tk plus H according to the posture position dual quaterion. The strapdown posture position integrated updating algorithm based on spiral vector is suitable for a conventional munition guiding system.

Description

technical field [0001] The invention relates to a strapdown inertial navigation algorithm, in particular to a strapdown attitude and position integration updating algorithm based on a spiral vector. Background technique [0002] High precision strapdown inertial navigation algorithm in high rotation environment is one of the key technologies of conventional ammunition guidance system. In a high-rotation environment, the motion of a rigid body in space is a composite motion of rotation and translation. In this regard, the traditional strapdown inertial navigation algorithm is based on vector algebra, using direction cosine matrix or quaternion to study the rotational motion of rigid bodies, and using vectors to study the translational motion of rigid bodies. Therefore, the traditional strapdown inertial navigation algorithm needs to design the attitude update algorithm and the velocity update algorithm respectively in the engineering implementation (the attitude update algor...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problems that the traditional strapdown inertial navigation algorithm destroys the integrity of rigid body motion in space, increases the complexity of algorithm design and implementation, and is difficult to meet the requirements of high resolution accuracy in high rotation environments, the present invention provides a Strapdown Attitude and Position Integrated Update Algorithm Based on Spiral Vector

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