Strapdown inertial navigation algorithm in geometric algebra

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.