The psi-angle model and the equivalent tilt (ET) model have been widely used for in-flight alignment (IFA) to align and to calibrate a strapdown inertial navigation system (SDINS) on a moving base. However, these models are not effective for a system with large attitude errors because the neglected error terms in the models degrade the performance of a designed filter. In this paper, with an odometer as an external aid, a velocity-aided SDINS is designed for IFA. Equivalent error models applicable to IFA with large attitude errors are derived in terms of rotation vector error and additive and multiplicative quaternion errors. It is found that error models in terms of additive quaternion error (AQE) become linear. Thus the proposed error models reduce unmodeled error terms for a linear filter. From a number of van tests, it is shown that the proposed error models effectively improve the performance of IFA.
Comparison of SDINS in-flight alignment using equivalent error models
IEEE Transactions on Aerospace and Electronic Systems ; 35 , 3 ; 1046-1054
1999-07-01
335178 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
PAPERS - Comparison of SDINS In-Flight Alignment Using Equivalent Error Models
Online Contents | 1999
|Modeling Quaternion Errors in SDINS: Computer Frame Approach
Online Contents | 1998
|