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中文摘要：
为给船舶提供可靠的航向信息,提高系统集成化及数字化程度,降低设计成本及机械复杂度,提出利用四元数法对GPS及捷联惯性器件输出的数据进行解算,设计基于捷联惯导系统姿态计算的免施矩罗经方法.通过分析以GPS及捷联惯性器件数据确定初始姿态矩阵、利用罗经法进行精对准及修正角速率计算、惯性器件数据坐标系转换、角增量计算、四元数更新、姿态矩阵更新、姿态计算等系列算法,给出用串口采集及处理GPS数据和微惯性器件数据的方案,设计算法实现的软件流程.仿真分析表明,系统启动时间短,输出结果稳定,误差在商船允许范围内,虚拟仪表显示实时、准确.
英文摘要：
In order to provide ships with reliable heading information and improve the integration and digital level of the system,and reduce the cost and mechanical complexity,a calculation method with GPS and strapdown inertial instrument output data using quaternion method is proposed,and a torque-free compass based on Strapdown Inertial Navigation System（SINS） attitude algorithm is designed.By analyzing several algorithms,such as initial attitude matrix determination with GPS and strapdown inertial instrument data,fine alignment and calculation of angular rate correction using gyrocompass,coordinates transformation of inertial instrument data,calculation of angle increment,quaternion,attitude matrix updating and attitude calculation,the scheme of collecting GPS and micro-inertial instrument data through serial port is presented,and the procedures of algorithm are designed.The simulation results indicate that the system has short start time and stable output,the error is within the acceptable range of commercial ships,and the virtual instrument has real-time and accurate display.
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