Equivalence analysis between SVD and QUEST for multi-vector attitude determination

被引：0

作者：

Yan G. ^{[1
]}

Chen R. ^{[1
]}

Guo K. ^{[2
]}

机构：

[1] School of Automation, Northwestern Polytechnical University, Xi'an

[2] CSSC Marine Technology Co., Ltd., China State Shipbuilding Corporation, Beijing

来源：

Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2019年 / 27卷 / 05期

关键词：

Attitude determination; QUEST estimation method; Singular value decomposition; Strapdown inertial navigation system;

D O I：

10.13695/j.cnki.12-1222/o3.2019.05.002

中图分类号：

学科分类号：

摘要：

Aiming at Wahba problem of attitude determination, the equivalence between the singular value decomposition(SVD) algorithm of attitude matrix and three quaternion eigenvector algorithms is proved, and a fast SVD singular value decomposition algorithm is presented, whose computation amount is close to that of traditional ESOQ2 fast algorithm. Theoretical analysis and simulation experiments show that there is no significant difference in the numerical calculation accuracy and calculation amount among these algorithms in terms of the computing power of the current computer, and all of them can meet the practical application requirements. For describing the multi-vector attitude determination problem or the SINS initial alignment pro- blem ininertial frame, the approach of attitude matrix optimization and singular value decomposition solutionis recommended, which is more concise and intuitive compared with thequaternion eigenvector approach. © 2019, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.

引用

页码：568 / 572

页数：4

共 11 条

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