DocumentCode :
3381974
Title :
Attitude updating algorithm of SINS and composite application
Author :
Zhang Shangmin ; Li Chunwen ; Cheng Hao
Author_Institution :
Dept. of Autom., Tsinghua Univ., Beijing, China
fYear :
2011
fDate :
15-16 Aug. 2011
Firstpage :
275
Lastpage :
280
Abstract :
The real-time attitude computation is key to the accuracy of Strap-down Inertial Navigation System (SINS). This paper discusses the attitude updating quaternion algorithm of SINS and the quaternion recursive algorithm based on the third-order Taylor expansion. In order to reduce the influence of the non-commutative error caused by quaternion algorithm in high dynamic circumstances, we present a rotation vector algorithm that compensates for the deviation of the nonreciprocal angular velocity vector, whose pros and cons of the algorithms are analyzed. The rotation vector method can effectively reduce the non-commutative error at certain sampling frequencies. Moreover, a maneuverability criterion is designed for determining the dynamic level, Based on which the composite pattern containing two algorithms are proposed for flying submunition missiles.
Keywords :
inertial navigation; SINS; attitude updating algorithm; composite application; flying submunition missiles; maneuverability criterion; noncommutative error; nonreciprocal angular velocity vector; quaternion recursive algorithm; real-time attitude computation; rotation vector; strap-down inertial navigation system; third-order Taylor expansion; Acceleration; Accuracy; Algorithm design and analysis; Angular velocity; Heuristic algorithms; Quaternions; Taylor series; SINS; attitude updating algorithm; composite pattern; quaternion; rotation vector;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Automation and Logistics (ICAL), 2011 IEEE International Conference on
Conference_Location :
Chongqing
ISSN :
2161-8151
Print_ISBN :
978-1-4577-0301-0
Electronic_ISBN :
2161-8151
Type :
conf
DOI :
10.1109/ICAL.2011.6024727
Filename :
6024727
Link To Document :
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