Journal of Astronautics ›› 2014, Vol. 35 ›› Issue (3): 340-344.doi: 10.3873/j.issn.1000-1328.2014.03.013

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Equivalence Analysis of Rotation Vector Algorithms Based on Angle Increment and Angular Velocity

WANG Li dong,  MENG Ya feng,  GAO Qing   

  1. Ordnance Engineering College, Shijiazhuang 050003, China
  • Received:2013-01-12 Revised:2013-06-04 Online:2014-03-15 Published:2014-03-25


The rotation vector algorithms(RVA) based on angular increment and angular velocity as well as their calculation errors are deduced in the frequency domain. Both RVAs and their coning compensation errors (CCE) are analyzed and compared in theory. When the sensors’ errors are ignored, CCEs of the two algorithms based on typical coning motion are simulated. It is showed that CCE of two RVAs is determined quantitatively by the ratio of sampling frequency to coning motion frequency in the same way: when the ratio is greater than 1〖KG*9〗000, CCEs of the two RVAs that have the same amount of sub sample are equal; the effective scope that RVA has the function of coning error compensation is that the ratio is greater than 3 and less than 1〖KG*9〗000. Within this scope, CCE increases monotonously with the decrease of the ratio, and the CCEs of two RVAs that have the same amounts of sub samples tends to be equal with the increase of the amount of sub samples; when the ratio is less than or equal to 3, the function of coning error compensation of the two RVAs weakens equally. Thus it can be concluded that the function of coning error compensation of the two RVAs is approximately equivalent, which has certain instructive significance for the design of SINS and the seletcion of RVA as well as the application of SINS in highly dynamic environments.

Key words: Control and navigation, Rotation vector algorithm, Coning compensation error, Coning error compensation function, Strapped down inertial navigation system

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