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Error Analysis Strapdown Inertial Navigation Using Quaternions

Additionally, recalling that ±!BIB, ±sB,and±gEin the input noise vector are all vector quaternionswith zero scalar parts, it is certain from (48), (49),and (50) that the scalar parts of ¢qIT, ¢q0IT,and¢q0IGremain constant Publication:Journal of Guidance, Control, and Dynamics, vol. 9, issue 3, pp. 379-381 Publication Date:05/1986 Origin:CROSSREF DOI:10.2514/3.20119 Bibliographic Code:1986JGCD....9..379S Abstract Not Available Bibtex entry for this abstractPreferred format for this abstract (see The block diagram is plotted in Fig. 1showing the fundamental mechanism of the strapdownINS.III. This situation will be investigated and discussed further in future publications. my review here

With full operational GPS capabilities, it has been recognized that an optimal combination of GPS with inertial navigation, brings a number of advantages over stand-alone inertial or GPS navigation. Please try the request again. T-AES/42/1/862550.Refereeing of this contribution was handled by G. Theinput noise matrix and system dynamic matrix are,respectively,Gm=1226664I3000I3000I300037775(55)andFm=26664[¯!BIB£] 000[¯sB£][¯!BIB£] 0000[!EIE£] 00 ¡¦ ¡I3[!EIE£]37775(56)where all null matrices are of third order.IV. http://arc.aiaa.org/doi/pdf/10.2514/3.20119

ProgriRead full-textPMI-Based Nonlinear H-infinity Estimation of Unknown Sensor Error for INS/GPS Integrated System"In the existing results, the common way is to model the accelerometer and gyro errors as a random constant Therefore, the strapdownINS mechanism basically consists of two components:1) attitude equation through which the attitude ofthe body with respect to the chosen reference frameis determined, and 2) translation or navigationequation that Hereafter we assume that readersare familiar with quaternion and dual quaternionalgebra.

On the other hand, the Global Positioning System (GPS) can accurately determine position, velocity, and time of vehicles with low update rate. Simulation is carried out in order to compare the proposed augmented system with other navigation algorithms. Finally, a flight experiment is implemented to show the effectiveness of the proposed method. China, in 1982 and 1985, respectively.Currently he is with National University of Defense Technology as a professorand the Dean of the College of Mechatronics and Automation.

Although carefully collected, accuracy cannot be guaranteed. The strapdown INS emergedabout half a century ago as an alternative in which thegyro and accelerometer triads are directly mounted onthe vehicle. As a subsequent work of a companion paper (Wu et al., 2005), this paper adopts dual quaternion algebra, a most concise and unified mathematical tool for representing the general displacement of http://ieeexplore.ieee.org/iel5/7/4102049/04102056.pdf Publisher conditions are provided by RoMEO.

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The system returned: (22) Invalid argument The remote host or network may be down. imp source To fix this, set the correct time and date on your computer. If your computer's clock shows a date before 1 Jan 1970, the browser will automatically forget the cookie. Wu was awarded Guanghua Scholarship twice in 1998 and 2003, andwas the only one in the department who got the University Ph.D.

Firstly, SINS error models that are used for error calculation are established considering several error resources with respect to inertial units. this page The relations among estimability, error covariance, and information matrix are presented. As a result, the state spaceof the ADQE model is sixteen large in dimension.In contrast to the ADQE, the MDQE can physicallyrepresent the difference between the computed frameand the true frame. The oneis the linear ADQE model, which describes thedual quaternion error by means of perturbation.Because of the nature of a quaternion, four-parameterperturbation with one more excess parameter thanminimum has to be

Y.The psi-angle error equation in strapdown inertialnavigation systems.IEEE Transactions on Aerospace and Electronic Systems,14 (1978), 539—542.264 IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS VOL. 42, NO. 1 JANUARY 2006 [7] Yu,M.J.,Lee,J.G.,andPark,H.W.Comparison China, in 1983 and 1986, respectively, and the Ph.D. The effects of the initial error covariance, system model perturbation, and the transformation of state variable on the measures are also given. get redirected here The principle of thestrapdown INS was formulated by three continuouskinematic equations in dual quaternion.

To provide access without cookies would require the site to create a new session for every page you visit, which slows the system down to an unacceptable level. This paper provides a detailed discussion of quaternionic analysis that can be applied to solve this problem. Full-text · Article · May 2008 Jeong Hyun MoonSinpyo HongHo-Hwan ChunMan Hyung LeeRead full-textAlternative Simplified Algorithm for Strapdown Terrestrial INS"The differential equations of the vehicle position in terms of latitude, longitude,

Secondly, flight paths for simulation are designed.

Get Help About IEEE Xplore Feedback Technical Support Resources and Help Terms of Use What Can I Access? Generated Mon, 10 Oct 2016 12:30:23 GMT by s_ac15 (squid/3.5.20) ERROR The requested URL could not be retrieved The following error was encountered while trying to retrieve the URL: Connection In this work, a reduced and fast terrestrial strapdown INS algorithm was developed and implemented for three-degree of freedom (3DOF). All rights reserved.About us · Contact us · Careers · Developers · News · Help Center · Privacy · Terms · Copyright | Advertising · Recruiting We use cookies to give you the best possible experience on ResearchGate.

This is obviously valid since the inertialframe I is defined above to be the Earth frame att = 0. Setting Your Browser to Accept Cookies There are many reasons why a cookie could not be set correctly. Your cache administrator is webmaster. http://axishost.net/error-analysis/error-analysis-immunochemistry-error-analysis.php H.Strapdown INS error model for multiposition alignment.IEEE Transactions on Aerospace and Electronic Systems,32 (1999), 1362—1366.[3] Lee,H.K.,Lee,J.G.,Roh,Y.K.,andPark,C.G.Modeling quaternion errors in SDINS: Computer frameapproach.IEEE Transactions on Aerospace and Electronic Systems,34 (1998), 289—298.[4] Shibata,

The vector from the Earth’s centerto its origin is exactly the thrust velocity). Read our cookies policy to learn more.OkorDiscover by subject areaRecruit researchersJoin for freeLog in EmailPasswordForgot password?Keep me logged inor log in with An error occurred while rendering template. Thus, it is reasonable to treatthem separately. Inserting (23) andequalizing real parts and dual parts on both sides, (22)becomes±_qIU=12(±qIU±¯!EIE+¯qIU±±!EIE)±_q0IU=12(±qIU±¯q¤IU±(¯vIt+¯vIg) ±¯qIU+ ±q0IU±¯!EIE+¯qIU±±c +¯q0IU±±!EIE):(25)From above, we see that the ADQE model iscomposed of (18), (21), and (25).

Read our cookies policy to learn more.OkorDiscover by subject areaRecruit researchersJoin for freeLog in EmailPasswordForgot password?Keep me logged inor log in withPeople who read this publication also read:Conference Paper: Error analysis His scientificinterests include aircraft navigation, guidance, and control.Dewen Hu (M’03) was born in Hunan, P.R. The twist expressed in260 IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS VOL. 42, NO. 1 JANUARY 2006 Fig. 1. Although carefully collected, accuracy cannot be guaranteed.

His current research interests include navigation system,general estimation theory, statistical signal processing and application Cliffordalgebra in engineering.Xiaoping Hu was born in Sichuan, P.R. Full-text · Article · Jun 2003 · Journal of Mechanical Science and TechnologySalam IsmaeelRead full-textShow moreRecommended publicationsArticleIntegration of GPS and Baro-Inertial Loop Aided Strapdown INS and Radar AltimeterOctober 2016 · IETE You have installed an application that monitors or blocks cookies from being set. ERROR MODELS IN DUAL QUATERNIONIn this section, two error models are developedusing the ADQE and MDQE, respectively.

Integrated systems based on (GPS) and (SDINS) generated increasing interest over the past few years. A linearized Kalman filter model is implemented for augmented system based on the navigation frame to estimate the inertial system error based on the measurement error between the GPS and INS US & Canada: +1 800 678 4333 Worldwide: +1 732 981 0060 Contact & Support About IEEE Xplore Contact Us Help Terms of Use Nondiscrimination Policy Sitemap Privacy & Opting Out degree in patternanalysis and intelligent systems from the University of Defense Technology,Changsha, P.R.

Since the magnitudeof the angular velocity of the Earth is known withgreat precision from astronomic observations, i.e.,±!EIEcan be assumed to be zero, ±qIGand ±qIU(in (21) and (25)) will disappear only if rgreq-300477404afcf229af58f0c8a7379849 false For full functionality of ResearchGate it is necessary to enable JavaScript. To accept cookies from this site, use the Back button and accept the cookie. Subscribe Enter Search Term First Name / Given Name Family Name / Last Name / Surname Publication Title Volume Issue Start Page Search Basic Search Author Search Publication Search Advanced Search

China, in 1976. Use of this web site signifies your agreement to the terms and conditions. In conventionalerror analysis where a quaternion is used to representthe attitude, the quaternion error equation is developedby means of perturbation to describe the attitude errorpropagation [3, 4, 7, 8].