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CAS IR Grid
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长春光学精密机械与物... [1]
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OAI收割 [1]
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会议论文 [1]
发表日期
2011 [1]
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Three-sample rotation vector algorithm with angular rate input (EI CONFERENCE)
会议论文
OAI收割
2011 2nd International Conference on Mechanic Automation and Control Engineering, MACE 2011, July 15, 2011 - July 17, 2011, Inner Mongolia, China
作者:
Zhang Y.
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提交时间:2013/03/25
In order to research the attitude algorithm with angular rate input under the conical motion
a optimal threesample rotation vector algorithm based on single-step Newton backward interpolation is proposed. Using the principle of limited rigid body rotation and the characteristic of angular rate input
three-sample rotation vector algorithm is derivated. To minimum attitude errors
three-sample rotation vector algorithm is optimized. Three angular rate extraction methods of singlestep entire sample recursion
multi-step entire sample and singlestep Newton backward interpolation are proposed. Under the condition of conical motion with semi-cone angle 3 and angular frequency 2rad/s
simulation is done. The simulation results show that single-step Newton backward interpolation is superior to the other two methods
and its maximum error peak is 0.01
error drift rate is 0.036/h. Experiments in three-axis flying turntable with the same parameters are carried out
and the results show that error drift rates of three-channels are less than those of traditional quaternion
which are 13.53%
12.08% and 23.68% lower respectively. It also verified that the new algorithm can perform a high accuracy under the conical motion. 2011 IEEE.