INS algorithm using quaternon model for low cost IMU

被引：73
|
作者：
Kong, XY [1 ]
机构：
[1] Univ Technol Sydney, Fac Engn, Sydney, NSW 2007, Australia
来源：
ROBOTICS AND AUTONOMOUS SYSTEMS | 2004年 / 46卷 / 04期
关键词：
quaternion; inertial navigation system; global positioning system; navigation algorithm;
D O I：
10.1016/j.robot.2004.02.001
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a generic inertial navigation system (INS) error propagation model that does not rely on small misalignment angles assumption. The modelling uses quaternions in the computer frame approach. Based on this model, an INS algorithm is developed for low cost inertial measurement unit (IMU) to solve the initial attitudes uncertainty using in-motion alignment. The distribution approximation filter (DAF) is used to implement the non-linear data fusion algorithm. (C) 2004 Elsevier B.V. All rights reserved.
引用
收藏
页码：221 / 246
页数：26
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