机构

• 长春光学精密机械与物... [1]

采集方式

• OAI收割 [1]

内容类型

• 会议论文 [1]

发表日期

• 2011 [1]

学科主题

筛选

浏览/检索结果: 共1条，第1-1条 帮助 条数/页： 5101520253035404550556065707580859095100 排序方式： 请选择提交时间升序提交时间降序题名升序题名降序作者升序作者降序发表日期升序发表日期降序 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. 收藏  |  浏览/下载：16/0  |  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.