Title :
Study on Error Modeling Methods of Strap-Down INS and Their Relations
Author :
Ding Guoqiang ; Zhou Weidong ; Cuo Guangzhao
Author_Institution :
Coll. of Autom., Harbin Eng. Univ., Harbin, China
Abstract :
Based on the detailedly overview of SINS error modeling method, this paper discusses the SINSpsila error models with different math expression methods within the same reference coordinate system, and their relationship. As well it discusses the conversion relationship of certain mathematical error model between different reference coordinate systems. Specific to t-Frame and c-Frame, it detailedly deduced the navigation system error model equations with different mathematical forms. And finally it analyzed the application scope and conditions of the various SINS system error models. In this paper, the research results about the SINS error modeling have an important theoretical guidance and significance.
Keywords :
error analysis; inertial navigation; matrix algebra; nonlinear equations; vectors; SINS error modeling method; additive quaternion error model; math expression method; multiplicative quaternion error model; nonlinear equation; reference coordinate system; rotating vector error model; skew-symmetric matrix; strap-down INS; strap-down inertial navigation system equation; Automation; Differential equations; Educational institutions; Error analysis; Industrial relations; Mathematical model; Navigation; Nonlinear equations; Quaternions; Silicon compounds; Additive Quaternion Error; Multiplicative Quaternion Error; Rotating Vector Error; SINS modeling;
Conference_Titel :
Information and Computing Science, 2009. ICIC '09. Second International Conference on
Conference_Location :
Manchester
Print_ISBN :
978-0-7695-3634-7
DOI :
10.1109/ICIC.2009.291
