The Quaternion-Based Attitude Error for the Nonlinear Error Model of the INS

被引：12
|
作者：
Zhu, Tiangao [1 ]
Liu, Yong [1 ]
Li, Wenkui [1 ]
Li, Kailong [1 ]
机构：
[1] Naval Univ Engn, Dept Nav Engn, Wuhan 430033, Peoples R China
来源：
IEEE SENSORS JOURNAL | 2021年 / 21卷 / 22期
基金：
中国国家自然科学基金;
关键词：
Nonlinear error model; quaternion; attitude error; INS; NAVIGATION SYSTEM; INITIAL ALIGNMENT; KALMAN FILTER; CALIBRATION;
D O I：
10.1109/JSEN.2021.3118039
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, the quaternion of b-frame based nonlinear error model is proposed for the INS. According to the definition of the attitude error, the quaternion of b-frame based nonlinear error model has been derived by additive and multiplicative relationship. Then, a discussion and analysis is made to compare the proposed model in additive and multiplicative relationship with the quaternion of n-frame based nonlinear error model. In addition, an analysis and comparsion of b-frame and n-frame based nonlinear error model is made to have a theoretical justification to describe why b-frame is superior to n-frame based nonlinear error model. Finally, field tests are carried out to access the performance of the quaternion of b-frame and n-frame based nonlinear error model in the additive and multiplicative relationship for the INS.
引用
收藏
页码：25782 / 25795
页数：14
相关论文
共 50 条
  • [1] Nonlinear Error Model Based on Quaternion for the INS: Analysis and Comparison
    Li, Kailong
    Lu, Xin
    Li, Wenkui
    [J]. IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 2021, 70 (01) : 263 - 272
  • [2] Error quaternion-based spacecraft attitude tracking system with sliding mode control
    Feng, Lu
    Gong, Cheng
    He, Changan
    [J]. Yuhang Xuebao/Journal of Astronautics, 2000, 21 (01): : 17 - 22
  • [3] The Quaternion Based Error Model Based on SE(3) of the INS
    Zhu, Tiangao
    Li, An
    Li, Kailong
    Qin, Fangjun
    [J]. IEEE SENSORS JOURNAL, 2022, 22 (13) : 13067 - 13077
  • [4] Nonlinear Initial Alignment based on Quaternion Error Model
    Zhang, Guang-jun
    Hu, Bai-qing
    Chang, Lu-bin
    Xue, Bo-yang
    [J]. 2018 IEEE CSAA GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC), 2018,
  • [5] Quaternion-based IMU and stochastic error modeling for intelligent vehicles
    Brunner, Thomas
    Lauffenburger, Jean-Philippe
    Changey, Sebastien
    Basset, Michel
    [J]. 2015 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), 2015, : 877 - 882
  • [6] Quaternion based nonlinear error model for rapid transfer alignment
    Dai, Hong-De
    Zhou, Shao-Lei
    Chen, Ming
    Li, Juan
    Wu, Xiao-Nan
    [J]. Yuhang Xuebao/Journal of Astronautics, 2010, 31 (10): : 2328 - 2334
  • [7] Quaternion-based visual servo control in the presence of camera calibration error
    Hu, G.
    Gans, N.
    Dixon, W. E.
    [J]. PROCEEDINGS OF THE 2007 IEEE CONFERENCE ON CONTROL APPLICATIONS, VOLS 1-3, 2007, : 641 - +
  • [8] Uniform Nonlinear Error Model Based on Gibbs Parameter for the INS
    Li, Kailong
    Li, Wenkui
    [J]. IEEE SENSORS JOURNAL, 2021, 21 (06) : 7725 - 7735
  • [9] Quaternion-based visual servo control in the presence of camera calibration error
    Hu, Guoqiang
    Gans, Nicholas
    Dixon, Warren
    [J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2010, 20 (05) : 489 - 503
  • [10] Combined Quaternion-Based Error State Kalman Filtering and Smooth Variable Structure Filtering for Robust Attitude Estimation
    Youn, Wonkeun
    Gadsden, Stephen Andrew
    [J]. IEEE ACCESS, 2019, 7 : 148989 - 149004
12345