A new quaternion-based method for the SINS/SAR (strap-down inertial navigation system/synthetic aperture radar) integrated navigation system is presented. This method overcomes the shortcomings due to the linear SINS error model used in the currently existing SINS/SAR integrated navigation systems. A quaternion-based matrix is derived for describing the attitude of SINS. Quaternion-based nonlinear error and observation models are established for the SINS/SAR integrated navigation system. An adaptive unscented particle filtering (UPF) algorithm is developed based on the quaternion-based nonlinear models for optimal data fusion in the SINS/SAR integrated navigation system. Experimental results demonstrate that the proposed quaternion based method can effectively reduce the navigation error and improve the navigational positioning precision.


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    Titel :

    A Quaternion-Based Method for SINS/SAR Integrated Navigation System


    Beteiligte:
    Yongmin Zhong, (Autor:in) / Shesheng Gao, (Autor:in) / Wei Li, (Autor:in)


    Erscheinungsdatum :

    2012-01-01


    Format / Umfang :

    1912497 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch