Nonlinear Error Model Based on Quaternion for the INS: Analysis and Comparison

被引：0

作者：

Li, Kailong ^{[1
]}

Lu, Xin ^{[1
]}

Li, Wenkui ^{[1
]}

机构：

[1] Naval Univ Engn, Dept Nav Engn, Wuhan 430033, Peoples R China

来源：

IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY | 2021年 / 70卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Quaternions; Navigation; Mathematical model; Estimation; Kalman filters; Data models; Simultaneous localization and mapping; Inertial navigation; integrated navigation; nonlinear error model; quaternion; INERTIAL NAVIGATION SYSTEM; ATTITUDE DETERMINATION; ALGORITHM;

D O I：

10.1109/TVT.2020.3046680

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, a modified quaternion-based nonlinear error model is explored using three derivation methods. The modified quaternion-based nonlinear error model can be more reasonable than the traditional one due to the uniform frame problem, which is underlying and fundamental but is easy to overlook. Further, field tests for inertial integrated navigation (INS) are carried out to investigate the benefits and drawbacks of the existing nonlinear model or nonlinear error model based on Euler angles and quaternion for the INS

引用

页码：263 / 272

页数：10

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