The relationship between quaternion errors and tilt angles from true navigation frame to analytic platform frame is newly derived for strapdown inertial navigation system (SDINS). Using the relationship it is shown that the quaternion error model for attitude and velocity is equivalent to the conventional perturbation error model. Based upon the equivalency, the quaternion errors during a multiposition alignment are determined and analyzed. Furthermore, it is shown that the heading rotation of 180 deg achieves the minimal quaternion error for 2-position ground alignment.
Strapdown INS error model for multiposition alignment
IEEE Transactions on Aerospace and Electronic Systems ; 32 , 4 ; 1362-1366
1996-10-01
739889 byte
Article (Journal)
Electronic Resource
English
Strapdown INS Error Model for Multiposition Alignment
Online Contents | 1996
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