QQ客服 官方微博 反馈留言

	Three-sample rotation vector algorithm with angular rate input (EI CONFERENCE)
	Chu H. ; Zhang Y. ; Jia H.
	2011
会议名称	2011 2nd International Conference on Mechanic Automation and Control Engineering, MACE 2011, July 15, 2011 - July 17, 2011
会议地点	Inner Mongolia, China
关键词	In order to research the attitude algorithm with angular rate input under the conical motion a optimal threesample rotation vector algorithm based on single-step Newton backward interpolation is proposed. Using the principle of limited rigid body rotation and the characteristic of angular rate input three-sample rotation vector algorithm is derivated. To minimum attitude errors three-sample rotation vector algorithm is optimized. Three angular rate extraction methods of singlestep entire sample recursion multi-step entire sample and singlestep Newton backward interpolation are proposed. Under the condition of conical motion with semi-cone angle 3 and angular frequency 2rad/s simulation is done. The simulation results show that single-step Newton backward interpolation is superior to the other two methods and its maximum error peak is 0.01 error drift rate is 0.036/h. Experiments in three-axis flying turntable with the same parameters are carried out and the results show that error drift rates of three-channels are less than those of traditional quaternion which are 13.53% 12.08% and 23.68% lower respectively. It also verified that the new algorithm can perform a high accuracy under the conical motion. 2011 IEEE.
页码	5469-5472
收录类别	EI
内容类型	会议论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/33445]
专题	长春光学精密机械与物理研究所_中科院长春光机所知识产出_会议论文
推荐引用方式 GB/T 7714	Chu H.,Zhang Y.,Jia H.. Three-sample rotation vector algorithm with angular rate input (EI CONFERENCE)[C]. 见:2011 2nd International Conference on Mechanic Automation and Control Engineering, MACE 2011, July 15, 2011 - July 17, 2011. Inner Mongolia, China.

个性服务

查看访问统计

相关权益政策

暂无数据

收藏/分享

除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。