Abstract–A quaternion based nonlinear model is designed for the Strapdown Inertial Navigation System (SINS) initial alignment with large initial errors. Furthermore, a filtering algorithm that can circumvent the norm constraint of the quaternion is developed to solve the quaternion based initial alignment problem. The simulation results indicate that the quaternion based initial alignment outperforms the Euler angle based method in terms of both alignment speed and accuracy. In this respect, the quaternion is more suitable for initial alignment with large misalignment angles.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Nonlinear Initial Alignment based on Quaternion Error Model


    Beteiligte:
    ZHANG, Guang-jun (Autor:in) / HU, Bai-qing (Autor:in) / CHANG, Lu-bin (Autor:in) / XUE, Bo-yang (Autor:in)


    Erscheinungsdatum :

    2018-08-01


    Format / Umfang :

    241334 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    A Quaternion-Based Method for Relative Alignment

    Rapoport, I. / Brandes, A. / Tekhniyon, Makhon tekhnologi le-Yisra'el | British Library Conference Proceedings | 2012


    Iterative computation of initial quaternion

    BAR-ITZHACK, I. Y. | AIAA | 1970


    Equivalence of the Quaternion Error Model for Strapdown INS

    Chung, D. / Jang Gyu Lee / Chan Gook Park et al. | British Library Conference Proceedings | 1997