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.


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    Title :

    Nonlinear Initial Alignment based on Quaternion Error Model


    Contributors:


    Publication date :

    2018-08-01


    Size :

    241334 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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