摘要
阐述了MIMU(micro-inertialmeasurementunit)定位定向系统原理,引入了四元数三阶泰勒展开递推式作为捷联惯导系统的姿态更新算法,并用程序进行算法仿真,为改进捷联惯导系统算法提供了参考依据。
This paper introduces the principle of the positioning and directional system of MIMU(micro-inertial measurement unit), introduces three-order Taylor expansion of quaternion to update the attitude algorithm in SINS,and makes the algorithm simulation by sing program, offering the reference for developing SINS algorithm.
出处
《科技情报开发与经济》
2004年第8期176-177,共2页
Sci-Tech Information Development & Economy
关键词
MIMU
姿态矩阵
四元数
泰勒展开递推式
MIMU
attitude matrix
quaternion
Taylor expansion recursion formula
