Research on the SINS Algorithm Based on Spiral Vector

Abstract:

Targeting at the independent compensation characteristics of cone motion effect and sculling motion effect in traditional SINS Algorithm, this article studies the SINS Algorithm based on spiral vector which enables the cone motion effect and sculling motion effect to compensate at the same time, so as to realize the high precision calculating of attitude Angle and velocity vector. This paper analyzes the mathematical relationships between spiral vector and position-attitude dual quaternion, and then deduces the spiral vector differential equation in detail, which leads to the SINS Algorithm orchestration based on the spiral vector. Finally, considering the real application environment, the actual tests have shown that under the same conditions the spiral vector algorithm of SINS is more precise than the traditional algorithm in high dynamic environment and that the high sub-sample precision is higher than the low sub-sample.

• Periodical: Key Engineering Materials (Volumes 609-610)
• Pages: 1508-1514
• DOI: https://doi.org/10.4028/www.scientific.net/KEM.609-610.1508
• Online since: April 2014
• Authors: Jie Li*, Chen Jun Hu, Li Peng Hou, Jun Liu
• Keywords: Dual Quaternion, Quaternion, SINS, Spiral Vector

References

[1] J.M. Selig, Geometric Fundamentals of Robotics, second Ed., Beijing, (2008).

[2] Y.X. Wu. Strapdown inertial navigation system algorithm based on dual quaternion,J. IEEE Transactions on aerospace and electronic systems. 4l(2005) 110-131.

[3] Y.Y. Ben. Research of Strapdown Inertial Navigation Algorithm under Highly Dynamic Environment,D. Harbin Engineering University. (2008).

[4] F. Sun, Y.Y. Ben, W. GAO. Application of spiral theory in strapdown inertial navigation algorithm,J. Systems Engineering and Electronics. 29(2007) 1532-1535.

[5] Y.Y. Qin, Inertial Navigation, Beijing, (2006).