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为了提高飞行器姿态确定的精度和姿态矩阵的解算速度,提出了一种改进的双矢量定姿算法.这种算法利用测量系统的方差对两个观测矢量进行加权处理,求得一个新的矢量,以两观测矢量夹角为判断依据选取加权系数;以新矢量为基准矢量,利用双矢量定姿算法求解姿态矩阵,并对求得的姿态矩阵进行修正.仿真结果表明:这种算法所需时间为优化算法的50%,当两个传感器测量误差不同、两矢量为任意夹角时,这种算法比优化的双矢量算法精度高;当两个传感器测量误差相同时,除了两矢量夹角为90°外,这种算法均比优化的双矢量算法精度高.
In order to improve the accuracy of aircraft attitude determination and the solving speed of attitude matrix, an improved bi-vectorial attitude determination algorithm is proposed, which uses the variance of measurement system to weight two observation vectors and obtains a new vector , Taking the angle between two observation vectors as the judgment basis to select the weighting coefficient; using the new vector as a reference vector, the attitude matrix is solved by the double vectorial attitude determination algorithm, and the attitude matrix obtained is corrected. The simulation results show that the required Time is 50% of the optimization algorithm. When the two sensors have different measurement errors and the two vectors are at any angle, the algorithm is more accurate than the optimized two-vector algorithm. When the two sensors have the same measurement error, Is 90 °, this algorithm is more accurate than the optimized two-vector algorithm.