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Strapdown inertial navigation using dual quaternion algebra: error analysis

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4 Author(s)
Yuanxin Wu ; Dept. of Autom. Control, National Univ. of Defense Technol., Changsha, China ; Xiaoping Hu ; Meiping Wu ; Dewen Hu

In a strapdown inertial navigation system (INS), the general displacement of a rigid body is traditionally separately modeled and analyzed, i.e., direction cosine matrix or quaternion for rotation analysis and vector for translation analysis. 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 a rigid body, to analyze error characteristics of the strapdown INS. Two new error models in terms of quaternion algebra are developed: the additive dual quaternion error (ADQE) model and multiplicative dual quaternion error (MDQE) model. Both are expected to facilitate the future inertial navigation-based integrated navigation filter.

Published in:

Aerospace and Electronic Systems, IEEE Transactions on  (Volume:42 ,  Issue: 1 )

Date of Publication:

Jan. 2006

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