摘要
对捷联式制导系统中目前常用的四元数递推公式进行误差估计，给出利用观测数据计算四元数的误差界的公式，还介绍了保持四元数范数不变的一类递推公式。
The errors are estimated for the quaternions recursive formula which is frequently used at present in the strapdown navigation system The formulas are given,by which a bound of the errors in the quaternions can be computed in terms of the observation data Furthermore,a class of recursive formulas is also introduced,which may preserve the norm of quaternions
出处
《现代防御技术》
1999年第3期44-51,共8页
Modern Defence Technology
关键词
四元数
捷联式
惯性制导系统
算法误差
估计
Quaternion,Strapdown inertial navigation system,Algorithm error estimation
