Techniques are provided to determine an initial quaternion transform that is used to transform measurements received from accelerometer, rate sensor and inertial reference subsystems from a vehicle coordinate frame to an inertial navigation frame. Methods disclosed determine corrective angular rates to use as a feedback signal to rotate the quaternion transform to counter errors that result when transforming a gravity vector and an inertial reference vector (e.g., a magnetic North reference vector) that are being measured by the accelerometer and an inertial reference subsystems, respectively. The initial quaternion determination is performed during a time period when the only substantial acceleration on the vehicle is due to gravity. The initial quaternion can be used for processing various guidance, navigation and control functions.


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    Titel :

    Method and system for initial quaternion and attitude estimation


    Weitere Titelangaben:

    Verfahren und System zur anfänglichen Quaternion- und Lageschätzung
    Procédé et système de détermination de quaternion initial et d'estimation d'attitude


    Beteiligte:

    Erscheinungsdatum :

    14.06.2017


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B64G Raumfahrt , COSMONAUTICS



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