弹箭姿态测试系统软件实现技术
关键词： 捷联惯导性测量系统 姿态更新 四元数 软件实现
毕业设计说明书（论文）外文摘要
Title The Missiles attitude test system software technology
Abstract
Strapdown inertial navigation system (SINS) has the advantage of strong autonomous navigation performance, short response time, simple structure, small volume, and high reliability. The inertial device is mounted on the body, motion of the body will directly affect the accuracy of measurement, so high accuracy algorithms can promote the accuracy of measurement. It is necessary to design appropriate attitude updating algorithms and filtering algorithms. Accounting launching circumstance, on the condition of selecting East-North-UP coordinate as navigation coordinate，the attitude updating for SINS are deduced in detail, such as Euler algorithm, direction cosine algorithm and quaternion algorithm. The errors and calculation times of all algorithms are analyzed .
To the strapdown inertial navigation system of measurement of the software to realize technology primary exploration, design a kind of test of the arrow attitude change software.
Keywords The strapdown inertial navigation system of measurement Attitude update Quaternions Software to realize
目 次
1 引言 1
1.1 捷联惯性技术发展历史与现状 1
1.2 捷联惯导系统基本结构及优点 2
1.3 捷联姿态解算算法研究历史与现状 4
1.4 本文研究的主要内容 6
2 捷联惯性导航系统 8
2.1 常用坐标系的定义及其变换 8
2.1.1 坐标系的定义 8
2.1.2 坐标系变换 8
2.1.2.1 载体坐标系与地理坐标系之间的关系——姿态矩阵 8
2.1.2.2 地理坐标系与地球坐标系之间的关系 10
2.2 地球参数 12
2.3 捷联惯导性系统基本原理 13
2.4 比力变换 14
2.5 速度更新微分方程 14
2.6 位置更新微分方程 14
3 捷联惯导姿态更新算法 16
3.1 欧拉角法 16
3.2 方向余弦法 16
3.3 四元数法 17
3.4 姿态更新各种算法比较 20
4 基于四元数姿态更新算法研究 21
4.1 毕卡逼近法 21
4.2 四阶龙格-库塔数值解法 22
4.2.1 四阶龙格-库塔数值解法基本原理 22
4.2.2 四阶龙格-库塔数值解法解四元数微分方程 22
5 捷联惯导的软件技术实现 23
5.1 发射环境下的捷联惯导性系统分析 23
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