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Higher-order Rotation Vector Attitude Updating Algorithm

Published online by Cambridge University Press:  29 November 2018

Maosong Wang ,
Wenqi Wu Open the ORCID record for Wenqi Wu [Opens in a new window] ,
Xiaofeng He ,
Gongliu Yang  and
Huapeng Yu
Maosong Wang
Affiliation:
(National University of Defense Technology, Changsha, Hunan, P.R. China)
Wenqi Wu*
Affiliation:
(National University of Defense Technology, Changsha, Hunan, P.R. China)
Xiaofeng He
Affiliation:
(National University of Defense Technology, Changsha, Hunan, P.R. China)
Gongliu Yang
Affiliation:
(Science and Technology on Inertial Laboratory, Beihang University, Beijing, P.R. China)
Huapeng Yu
Affiliation:
(National Innovation Institute of Defense Technology, Academy of Military Sciences China, Beijing, P.R. China)
*
(E-mail: wenqiwu_lit@hotmail.com)
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Abstract

Rotation vector-based attitude updating algorithms have been used as the mainstream attitude computation algorithms for many years. The most popular methodology for designing the rotation vector algorithm is by leveraging multiple samples of gyro integrated angular rate measurements. However, it has been pointed out by many researchers that the attitude updating accuracy is limited when using the multiple samples rotation vector algorithms, especially when the platforms work under high rate manoeuvres. The third-, fourth-, fifth- and sixth-order Picard component solutions of the rotation vector differential equation are given in this paper. A new design methodology for rotation vector-based attitude updating algorithms is proposed. Different vibratory dynamics and high rate manoeuvre roller coaster experiments were conducted to validate the effectiveness of the new algorithm. The results demonstrate the high accuracy of the new algorithm compared with conventional coning correction methods. The proposed algorithm can also be used in high accuracy attitude computation of a post-processing system, especially when the output frequency of the gyro is limited.

Keywords

Attitude UpdatingRotation Vector AlgorithmVibratory DynamicsHigh rate ManoeuvreHigh Accuracy Post-processing
Type
Research Article
Information
The Journal of Navigation , Volume 72 , Issue 3 , May 2019 , pp. 721 - 740
Copyright
Copyright © The Royal Institute of Navigation 2018 

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