基于四元数法的航向修正算法分析

目前载体的姿态解算已成为捷联式惯性导航系统精确导航的研究热点。为了减少由于陀螺仪漂移带来的航向误差,提出了一种基于启发式漂移消除算法(HDE)的改进航向修正方法。该方法采用四元数法解算载体航向,利用行人在室内环境下,行走直线时航向角偏差直接对行人航向进行修正,然后推算行人航向轨迹。实验采用低成本的智能手机,对比分析了不同采样频率以及二阶龙格-库塔法与四阶龙格-库塔法更新四元数解算航向角的精度,试验结果表明,提高采样频率能减小航向解算误差,提高定位精度。该算法对导航定位研究有一定的参考价值。 

Analysis of Heading Correction Algorithm Based on Quaternion Method

At present, the attitude solution for carrier has become a hot topic for precision navigation ofStrapdown Inertial Navigation System.In order to reduce the heading error caused by the drift of the gyro, an improved heading correction method based on Heuristic Drift Eliminationwas proposed. This method uses the quaternion to solve the carrier's heading, uses the pedestrian's heading angle deviation in the indoor environment to directly correct the pedestrian's heading, and then calculates the pedestrian heading trajectory.The experiment uses low-cost smart phones to compare and analyze the accuracy of different sampling frequencies and second-order Runge-Kutta method and fourth-order Runge-Kutta method to update the quaternion to solve the heading angle, it draw the conclusion that increasing the sampling frequency can reduce the heading error and improve the positioning accuracy.Experimental results show that this algorithm has certain reference value for navigation and positioning research.