任意姿态下矢量物理量的测量数据修正计算方法探讨

Discussion on Correcting Algorithm of Measurement Data of Physical Vector under Arbitrary Attitude

摘要:

工程中矢量物理量的测量,例如水中目标的磁场、电场的测量,通常测量传感器的姿态角是任意或随机的,因此需要对传感器平台的姿态角进行测量,并由此将矢量物理量的测量数据修正到确定的参照坐标系。 分析了文献中通常使用的修正算法,即根据传感器平台姿态角测量值直接引用欧拉角旋转变换公式,分析表明这一算法存在原理性误差。 在此基础上,推导出了合理的变换计算式,可以直接应用在任意姿态下矢量物理量的测量数据修正计算,以及类似的坐标变换计算中。

关键词:矢量测量;姿态修正;坐标变换

Abstract:

When measuring the physical vectors in engineering such as underwater target's magnetic and electric fileds, the attitude angle of the measurement sensor is usually arbitrary or random, so the attitude angle of the sensor platform needs to be measured, thereby the measured data of the physical vector are corrected to the determined reference coordinate system. In this pa- per, the correcting algorithm commonly used in the literature is analyzed, that is, the Euler angle rotation transformation formula is directly quoted according to the measured value of the attitude angle of sensor platform. The analysis shows that there is a principle error in this algorithm. On this basis, a reasonable transformation formula is deduced, which can be applied directly in the correcting algorithm of measured data of the physical vector in arbitary attitude and similar coordinate transformation calculation.

Key words:vector measurement; attitude correction; coordinate transformation