The research ofSINS algorithm based on screw compensation

Ming Jiang; Yi Di Chen; Shuo Jiang

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

The research ofSINS algorithm based on screw compensation

Ming Jiang, Yi Di Chen, Shuo Jiang

School of Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In order to eliminate the non-commutative errorwhich generatesin calculating navigationparameterbased onquaternion algorithm, the navigation algorithm based on screw theory is studied inthis paperto meet the needof high-precision navigation. Navigation solver mathematical model of SINSis established. Based on screw compensation algorithm, the simulationwith the trajectory data of the shellhad 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 ofvelocity and the accuracy of position are both relatively higher precision.

Original language	English
Title of host publication	Advances in Mechatronics and Control Engineering II
Pages	1033-1036
Number of pages	4
DOIs	https://doi.org/10.4028/www.scientific.net/AMM.433-435.1033
Publication status	Published - 2013
Event	2013 2nd International Conference on Mechatronics and Control Engineering, ICMCE 2013 - Dalian, China Duration: 28 Aug 2013 → 29 Aug 2013

Publication series

Name	Applied Mechanics and Materials
Volume	433-435
ISSN (Print)	1660-9336
ISSN (Electronic)	1662-7482

Conference

Conference	2013 2nd International Conference on Mechatronics and Control Engineering, ICMCE 2013
Country/Territory	China
City	Dalian
Period	28/08/13 → 29/08/13

Keywords

Dual quaternion
Spiral compensation
Strapdown inertial navigation systemalgorithm

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

Cite this

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title = "The research ofSINS algorithm based on screw compensation",

abstract = "In order to eliminate the non-commutative errorwhich generatesin calculating navigationparameterbased onquaternion algorithm, the navigation algorithm based on screw theory is studied inthis paperto meet the needof high-precision navigation. Navigation solver mathematical model of SINSis established. Based on screw compensation algorithm, the simulationwith the trajectory data of the shellhad 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 ofvelocity and the accuracy of position are both relatively higher precision.",

keywords = "Dual quaternion, Spiral compensation, Strapdown inertial navigation systemalgorithm",

author = "Ming Jiang and Chen, {Yi Di} and Shuo Jiang",

year = "2013",

doi = "10.4028/www.scientific.net/AMM.433-435.1033",

language = "English",

isbn = "9783037858943",

series = "Applied Mechanics and Materials",

pages = "1033--1036",

booktitle = "Advances in Mechatronics and Control Engineering II",

note = "2013 2nd International Conference on Mechatronics and Control Engineering, ICMCE 2013 ; Conference date: 28-08-2013 Through 29-08-2013",

}

Jiang, M, Chen, YD & Jiang, S 2013, The research ofSINS algorithm based on screw compensation. in Advances in Mechatronics and Control Engineering II. Applied Mechanics and Materials, vol. 433-435, pp. 1033-1036, 2013 2nd International Conference on Mechatronics and Control Engineering, ICMCE 2013, Dalian, China, 28/08/13. https://doi.org/10.4028/www.scientific.net/AMM.433-435.1033

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T1 - The research ofSINS algorithm based on screw compensation

AU - Jiang, Ming

AU - Chen, Yi Di

AU - Jiang, Shuo

PY - 2013

Y1 - 2013

N2 - In order to eliminate the non-commutative errorwhich generatesin calculating navigationparameterbased onquaternion algorithm, the navigation algorithm based on screw theory is studied inthis paperto meet the needof high-precision navigation. Navigation solver mathematical model of SINSis established. Based on screw compensation algorithm, the simulationwith the trajectory data of the shellhad 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 ofvelocity and the accuracy of position are both relatively higher precision.

AB - In order to eliminate the non-commutative errorwhich generatesin calculating navigationparameterbased onquaternion algorithm, the navigation algorithm based on screw theory is studied inthis paperto meet the needof high-precision navigation. Navigation solver mathematical model of SINSis established. Based on screw compensation algorithm, the simulationwith the trajectory data of the shellhad 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 ofvelocity and the accuracy of position are both relatively higher precision.

KW - Dual quaternion

KW - Spiral compensation

KW - Strapdown inertial navigation systemalgorithm

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U2 - 10.4028/www.scientific.net/AMM.433-435.1033

DO - 10.4028/www.scientific.net/AMM.433-435.1033

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SN - 9783037858943

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BT - Advances in Mechatronics and Control Engineering II

T2 - 2013 2nd International Conference on Mechatronics and Control Engineering, ICMCE 2013

Y2 - 28 August 2013 through 29 August 2013

ER -

The research ofSINS algorithm based on screw compensation

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Keywords

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