The Research of SINS Algorithm Based on Screw Compensation

Ming Jiang; Yi Di Chen; Shuo Jiang

doi:10.4028/www.scientific.net/AMM.433-435.1033

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 433-435The Research of SINS Algorithm Based on Screw...

The Research of SINS Algorithm Based on Screw Compensation

Abstract:

In order to eliminate the non-commutative error which generates in calculating navigation parameter based on quaternion algorithm, the navigation algorithm based on screw theory is studied in this paper to meet the need of high-precision navigation. Navigation solver mathematical model of SINS is established. Based on screw compensation algorithm, the simulation with the trajectory data of the shell had been done. And it had been compared to the quaternion rotation vector method. The simulation results show that compared to the rotation vector algorithm, the accuracy of attitude has little difference, but the accuracy of velocity and the accuracy of position are both relatively higher precision.

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Periodical:

Applied Mechanics and Materials (Volumes 433-435)

Pages:

1033-1036

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.433-435.1033

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Online since:

October 2013

Authors:

Ming Jiang, Yi Di Chen, Shuo Jiang

Keywords:

Dual Quaternion, Spiral Compensation, Strapdown Inertial Navigation System Algorithm

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