Screw Algorithm Optimized with Instantaneous Signals

Jian Feng Chen; Xi Yuan Chen; Xue Fen Zhu

doi:10.4028/www.scientific.net/AMM.229-231.1671

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Screw Algorithm Optimized with Instantaneous Signals
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 229-231Screw Algorithm Optimized with Instantaneous...

Screw Algorithm Optimized with Instantaneous Signals

Abstract:

Recent dramatic progress in strapdown inertial navigation system (SINS) algorithm is the design of SINS principle based on screw algorithm, utilizing dual quaternion. In this paper, the screw algorithm consisting of angular rate and specific force is optimized under a special screw motion. The special screw motion is derived from classical screw motion and can be taken as a complicated sculling motion including classical coning motion. Subsequently, the coefficients in the multi-sample screw algorithms and the corresponding algorithm drifts are determined by minimizing the error on direct component. The simulation results of attitude and velocity errors agree with the optimization goals, except when the number of subinterval is greater than 2. An explanation of this phenomenon is delivered.

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Periodical:

Applied Mechanics and Materials (Volumes 229-231)

Pages:

1671-1674

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.229-231.1671

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Online since:

November 2012

Authors:

Jian Feng Chen, Xi Yuan Chen, Xue Fen Zhu

Keywords:

Instantaneous Signals, Optimization, Screw Algorithm, Special Screw Motion

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