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.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Strapdown inertial navigation using dual quaternion algebra: error analysis


    Beteiligte:
    Yuanxin Wu (Autor:in) / Xiaoping Hu (Autor:in) / Meiping Wu (Autor:in) / Dewen Hu (Autor:in)


    Erscheinungsdatum :

    01.01.2006


    Format / Umfang :

    635983 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Strapdown inertial navigation technology

    Titterton, David H. ;Weston, John L. | SLUB | 1997


    Strapdown inertial navigation technology

    Titterton, David H. ;Weston, John L. | SLUB | 2004


    Strapdown Inertial Navigation Technology

    Titterton, David H. | TIBKAT | 2004