Title :
Strapdown INS error model for multiposition alignment
Author :
Chung, Dohyoung ; Lee, Jang Gyu ; Park, Chan Gook ; Park, Heung Won
Author_Institution :
Sch. of Electr. Eng., Seoul Nat. Univ., South Korea
fDate :
10/1/1996 12:00:00 AM
Abstract :
The relationship between quaternion errors and tilt angles from true navigation frame to analytic platform frame is newly derived for strapdown inertial navigation system (SDINS). Using the relationship it is shown that the quaternion error model for attitude and velocity is equivalent to the conventional perturbation error model. Based upon the equivalency, the quaternion errors during a multiposition alignment are determined and analyzed. Furthermore, it is shown that the heading rotation of 180 deg achieves the minimal quaternion error for 2-position ground alignment
Keywords :
Kalman filters; aircraft navigation; inertial navigation; perturbation techniques; analytic platform frame; attitude; heading rotation; multiposition alignment; perturbation error model; quaternion errors; strapdown INS error model; tilt angles; true navigation frame; two-position ground alignment; velocity; Automatic control; Control systems; Differential equations; Inertial navigation; Instruments; Microcomputers; Observability; Power engineering and energy; Quaternions; Sections; Storage area networks; Vehicles;
Journal_Title :
Aerospace and Electronic Systems, IEEE Transactions on
