An attitude determination method based on convected Euler angle error model for SINS/CNS integrated system

© 2023 by the Author(s). Licensee Whioce Publishing, USA. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution 4.0 International License ( https://creativecommons.org/licenses/by/4.0/ )

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Abstract

The attitude determination method plays an important role in SINS/CNS integrated system for spacecraft. Since the misalignment angels are indirect measurements, the misalignment angle model used in the existing attitude determination method can cause transformation errors. To solve the problem, an attitude determination method based on convected Euler angle error model for SINS/CNS integrated system is proposed. The attitude error propagation is analyzed, and the convected Euler angle error model is derived. Furthermore, the state equation of SINS/CNS integrated system is established. The Kalman filter estimates and compensates the Euler angle errors. Finally, simulation results verified that the proposed method can improve the attitude accuracy compared to the conventional misalignment angle method.

Keywords

Attitude determination method

SINS/CNS integrated system

Misalignment angels

Transformation errors

Convected Euler angle errors

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Conflict of interest

The conventional misalignment angle model can't directly analyze and explain the attitude error propagation, as it is contains attitude transformation errors between misalignment angles and Euler angle errors. The Euler angle errors of SINS are different with misalignment angles of platform inertial navigation system, and a convected Euler angle error item is introduced. The proposed convected Euler angle error model can describe attitude error propagation intuitively, and avoid attitude transformation errors in SINS/CNS integrated system. Simulation experiment show that the precision (RMSE) of head, pith and roll improve 3.19 at least compared to the conventional misalignment angle method. The attitude determination method based on convected Euler angle error model for SINS/CNS integrated system can realize higher attitude precision. Since the navigation frame is i-frame, the attitude accuracy of other spacecraft can also be improved by this method.

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