A brief review of the theory of strapdown inertial navigation is presented in which the attitude of the sensor box with respect to inertial space is represented by the four-parameter quaternion vector. . A 4X4 matrix R is defined which aids in relating quaternions to direction cosines and facilitates interpretation of the equations for error propagation, which are also derived. In the interpretation, it is shown that the error in the quaternion vector causes aor-(correctable) scale factor error and an equivalent tilt vector error that propagates the same way as the platform tilt vector in a gimbaled system.
Analysis Strapdown Navigation Using Quaternions
IEEE Transactions on Aerospace and Electronic Systems ; AES-14 , 5 ; 764-768
1978-09-01
1071947 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Strapdown Inertial Navigation System Algorithms Based on Dual Quaternions
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