Title :
A Norm and Orthogonality Preserving Algorithm
Author :
Hyslop, Gregory L.
Author_Institution :
McDonnell Douglas Astronautics Company
Abstract :
The numerical solution of differential equations for directioncosine matrices and quaternions is fundamental to many inertialnavigation systems. Algorithms based on Padé approximants areshown to preserve the normality of quaternions and orthogonality ofdirection cosine matrices. An error analysis shows improvedperformance over conventional algorithms.
Keywords :
Bibliographies; Differential equations; Error analysis; Inertial navigation; Polynomials; Quaternions;
Journal_Title :
Aerospace and Electronic Systems, IEEE Transactions on
DOI :
10.1109/TAES.1987.310910
