Title :
A Quaternion-Based Method for SINS/SAR Integrated Navigation System
Author :
Zhong, Yongmin ; Gao, Shesheng ; Li, Wei
Author_Institution :
RMIT Univ., Bundoora, VIC, Australia
Abstract :
A new quaternion-based method for the SINS/SAR (strap-down inertial navigation system/synthetic aperture radar) integrated navigation system is presented. This method overcomes the shortcomings due to the linear SINS error model used in the currently existing SINS/SAR integrated navigation systems. A quaternion-based matrix is derived for describing the attitude of SINS. Quaternion-based nonlinear error and observation models are established for the SINS/SAR integrated navigation system. An adaptive unscented particle filtering (UPF) algorithm is developed based on the quaternion-based nonlinear models for optimal data fusion in the SINS/SAR integrated navigation system. Experimental results demonstrate that the proposed quaternion based method can effectively reduce the navigation error and improve the navigational positioning precision.
Keywords :
inertial systems; matrix algebra; particle filtering (numerical methods); synthetic aperture radar; SINS/SAR; UPF algorithm; adaptive unscented particle filtering; integrated navigation system; navigational positioning precision; quaternion-based matrix; quaternion-based nonlinear error; strap-down inertial navigation system; synthetic aperture radar; Adaptation models; Computational modeling; Equations; Inertial navigation; Quaternions; Silicon compounds;
Journal_Title :
Aerospace and Electronic Systems, IEEE Transactions on
DOI :
10.1109/TAES.2012.6129652
