NDLI: High Precise Attitude Algorithm for SINS

Content Provider	IEEE Xplore Digital Library
Author	Jie Li Jun Liu Bo Wang
Copyright Year	2010
Abstract	Attitude matrix is the foundation of strap down inertial navigation system (SINS). Equivalent rotation vector algorithm (ERVA) is now considered as the most effective method of computing the attitude matrix under the high-frequency dynamic environment. Most of the existing ERVA pay more attention to the method of optimizing the algorithm’s coefficients, which are aimed at the variant sample number and update frequency. Under the condition of the given sample number and update frequency, in order to more adequately make use of the rate gyroscope’s output information, and more precisely compute the attitude matrix, a novel ERVA is presented, its key thought is to improve the precision of ERV by adding its higher order cross coupling items about the different angle increment during the period of the attitude update into the ERV update equation. Taking two-sample ERVA as the example, the derivation of the novel ERV update equation is given in detail, Simulation results of the novel ERVA demonstrates its validity of improving the ERV precision under the condition of the given sample number and update frequency.
Starting Page	636
Ending Page	639
File Size	381889
Page Count	4
File Format	PDF
ISBN	9781424480432
DOI	10.1109/PCSPA.2010.159
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-09-17
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Silicon compounds Heuristic algorithms Quaternions Attitude Signal processing algorithms Inertial navigation High precision Mathematical model Algorithm Equations
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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