Derivation and Analysis of Attitude Error Models of Strapdown Inertial Navigation System

摘要：

The conventional linearized error models,such as psiangle model and the equivalent tilt (ET) model,are effective only for systems with infinitesimal attitude errors. To represent the large attitude error of a strapdown inertial navigation system (SINS),the rotation vector error (RVE) is introduced and the relationship between the RVE and the quaternion error is derived. Using this relationship,the nonlinearized attitude error models with additive quaternion,multiplicative quaternion and rotation vector are presented respectively. And they are found to be equivalent to each other. Besides,the nonlinearized error models can be reduced to linearized error models in case of system with very small attitude errors.

关键词： Quaternion Rotation vector Error model SINS

作者: Mao Yuliang Chen Jiabin Liu Zhaohua Song Chunlei

作者单位: School of Automation,Beijing Institute of Technology,Beijing,China

会议类型: 国际会议

会议名称: 2011 International Conference on Opto-Electronics Engineering and Information Science(2011光电电子工程与信息科学国际会议 ICOEIS 2011)

会议地点: 西安

会议语种:英文

页码: 1244-1247

在线出版日期: 2011-12-23（万方平台首次上网日期，不代表论文的发表时间）