In a strapdown inertial navigation system (INS), the general displacement of a rigid body is traditionally separately modeled and analyzed, i.e., direction cosine matrix or quaternion for rotation analysis and vector for translation analysis. As a subsequent work of a companion paper (Wu et al., 2005), this paper adopts dual quaternion algebra, a most concise and unified mathematical tool for representing the general displacement of a rigid body, to analyze error characteristics of the strapdown INS. Two new error models in terms of quaternion algebra are developed: the additive dual quaternion error (ADQE) model and multiplicative dual quaternion error (MDQE) model. Both are expected to facilitate the future inertial navigation-based integrated navigation filter.


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    Title :

    Strapdown inertial navigation using dual quaternion algebra: error analysis


    Contributors:
    Yuanxin Wu, (author) / Xiaoping Hu, (author) / Meiping Wu, (author) / Dewen Hu, (author)


    Publication date :

    2006-01-01


    Size :

    636826 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





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