| 双矢量定姿算法提高海参捕捞装置捷联惯导系统粗对准精度 |
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| 引用本文： | 包建华,乔 曦,李道亮.双矢量定姿算法提高海参捕捞装置捷联惯导系统粗对准精度[J].农业工程学报,2017,33(12):286-292. |
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| 作者姓名： | 包建华 乔 曦 李道亮 |
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| 作者单位： | 1. 中国农业大学信息与电气工程学院,北京 100083;江苏师范大学电气工程及自动化学院,徐州 221116;北京农业物联网工程技术研究中心,北京 100083;2. 中国农业大学信息与电气工程学院,北京 100083;北京农业物联网工程技术研究中心,北京 100083 |
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| 基金项目： | 国家国际科技合作专项项目（2013DFA11320）；中央高校基本科研业务费专项资金资助项目（2016XD001） |
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| 摘 要： | 针对传统解析粗对准算法中水平对准精度同时受陀螺仪和加速度计测量误差影响的问题,提出一种双矢量定姿粗对准算法,该算法在选定重力矢量为主参考矢量的前提下,预先对参与姿态解算的矢量作单位正交化处理。理论分析表明,所述算法使得水平对准精度只受加速度计水平测量误差影响,提高了捷联惯导系统粗对准精度;实测数据的试验结果表明,所述粗对准算法的水平误差角的大小不超过1°,方位误差角的大小不超过3°,在粗对准所要求的误差范围之内,为后续利用滤波方法进行精对准提供了有效的初始条件。
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| 关 键 词： | 渔业 导航 算法 捷联惯导 粗对准 双矢量定姿 静基座 海参捕捞 |
| 收稿时间： | 2016/12/29 0:00:00 |
| 修稿时间： | 2017/3/27 0:00:00 |
Double-vector attitude determination algorithm improving coarse alignment accuracy of strapdown inertial navigation system for sea cucumber fishing device |
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| Bao Jianhu,Qiao Xi and Li Daoliang.Double-vector attitude determination algorithm improving coarse alignment accuracy of strapdown inertial navigation system for sea cucumber fishing device[J].Transactions of the Chinese Society of Agricultural Engineering,2017,33(12):286-292. |
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| Authors: | Bao Jianhu Qiao Xi and Li Daoliang |
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| Institution: | 1. College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China; 2. School of Electrical Engineering and Automation, Jiangsu Normal University, Xuzhou 221116, China; 3. Beijing Engineering and Technology Research Center for Internet of Things in Agriculture, Beijing 100083, China,1. College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China; 3. Beijing Engineering and Technology Research Center for Internet of Things in Agriculture, Beijing 100083, China and 1. College of Information and Electrical Engineering, China Agricultural University, Beijing 100083, China; 3. Beijing Engineering and Technology Research Center for Internet of Things in Agriculture, Beijing 100083, China |
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| Abstract: | fisheries; navigation; algorithms; strapdown inertial navigation; coarse alignment; double-vector attitude determination; stationary base; sea cucumber fishing |
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| Keywords: | fisheries navigation algorithms strapdown inertial navigation coarse alignment double-vector attitude determination stationary base sea cucumber fishing |
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