DocumentCode
1995072
Title
Strapdown inertial navigation algorithm in geometric algebra
Author
Wu, Dimin ; Wang, Zhengzhi
Author_Institution
Inst. of Autom., Nat. Univ. of Defense Technol., Changsha, China
fYear
2011
fDate
16-18 Sept. 2011
Firstpage
1842
Lastpage
1845
Abstract
Geometric algebra (GA) is a very convenient representational and computational system for geometry due to its clear geometrical meanings and simple notations. The rigid body motion is represented by motors in GA. We derive the kinematic equation of motors, and associate motors with specific force acceleration and angular rate which can be measured in strapdown inertial navigation system. The navigation algorithm based on the kinematic equation is presented in succession, and a simulation is carried out to justify the presented algorithm. The results show the efficiency and precision of the GA-form navigation algorithm.
Keywords
computational geometry; inertial navigation; kinematics; angular rate; geometric algebra; kinematic equation; rigid body motion; specific force acceleration; strapdown inertial navigation algorithm; Algebra; Equations; Inertial navigation; Kinematics; Mathematical model; Silicon compounds; Algorithm; Geometric Algebra; Kinematic Equation; Motor; Strapdown Inertial Navigation System;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical and Control Engineering (ICECE), 2011 International Conference on
Conference_Location
Yichang
Print_ISBN
978-1-4244-8162-0
Type
conf
DOI
10.1109/ICECENG.2011.6058074
Filename
6058074
Link To Document