摘要
本文以姿态误差四元数与陀螺漂移误差之间的关系为基础,构建了系统状态方程;针对天文/惯性组合导航系统,以姿态四元数误差为观测值,具体推导了系统量测方程。利用卡尔曼滤波,对天文/惯性组合系统的融合方案进行了仿真,仿真结果较好的实现了对陀螺漂移误差的估计。
The state equations of the system are established on the basis of the relation between attitude error quaternion and the gyro drift. The measurement equation is formed from the error of the attitude quaternion provided by CNS and INS. The kalman filter is used to estimate and compensate the gyro drift.
出处
《自动化技术与应用》
2005年第4期13-15,共3页
Techniques of Automation and Applications
