预览加载中，请您耐心等待几秒...

捷联惯性导航传统比力积分算法与对偶四元数算法的比较研究.docx

预览
1/2
2/2

在线预览结束，喜欢就下载吧，查找使用更方便

下载提示 文本预览

如果您无法下载资料，请参考说明：

1、部分资料下载需要金币，请确保您的账户上有足够的金币

2、已购买过的文档，再次下载不重复扣费

3、资料包下载后请先用软件解压，在使用对应软件打开

捷联惯性导航传统比力积分算法与对偶四元数算法的比较研究 Title:ComparativeStudyonTraditionalDouble-IntegrationandDual-QuaternionAlgorithmsinInertialNavigationforStrapdownInertialNavigationSystems Abstract: Strapdowninertialnavigationsystems(SINS)playavitalroleinprovidingaccuratenavigationsolutionsforvariousapplicationssuchasautonomousvehicles,robotics,andaerospacesystems.Inthisstudy,weaimtocompareandanalyzetheperformanceoftwocommonlyusedalgorithmsinSINS,namely,thetraditionaldouble-integrationalgorithmandthedual-quaternionalgorithm. Introduction: Strapdowninertialnavigationsystemsrelyontheprinciplesofdoubleintegrationtoestimatetheposition,velocity,andattitudeofamovingobject.Traditionally,theaccelerometerandgyroscopemeasurementsareprocessedusingadouble-integrationalgorithmtoestimatethesedynamicparameters.However,recentadvancementsinquaternion-basedalgorithms,suchasthedual-quaternionalgorithm,haveshownpromiseinimprovingtheaccuracyandrobustnessofthenavigationsolution.Hence,acomparativestudybetweenthesetwoalgorithmsisnecessarytounderstandtheiradvantagesanddisadvantages. Methodology: Tocarryoutthiscomparativestudy,wewillfirstprovideabriefoverviewoftheunderlyingprinciplesofthetraditionaldouble-integrationalgorithmandthedual-quaternionalgorithm.Wewillexplainhowtheinertialsensormeasurementsareprocessedandintegratedovertimetoestimatethekinematicparameters.Themathematicalformulationsandalgorithmsusedforeachapproachwillbedescribedindetail. Next,wewillcomparetheperformanceofthetwoalgorithmsintermsofaccuracy,stability,computationalcomplexity,androbustnesstonoiseandbias.Simulatedscenariosandrealmotiondatawillbeusedtoevaluatetheperformanceofthealgorithmsundervariousconditions.Keymetrics,suchaspositionerror,velocityerror,andattitudeerror,willbeanalyzedandcompared. ResultsandDiscussion: Theresultsobtainedfromoursimulationandanalysiswillbepresentedanddiscussed.Wewillcomparetheaccuracyandstabilityoftheposition,velocity,andattitudeestimatesobtainedfromthetraditionaldouble-integrationalgorithmandthedual-quaternional