Attitude solution for carrier based on quaternion differential equation of Picard solver

机译：基于Picard求解器的四元数微分方程的载波姿态解决方案

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摘要

The attitude information is indispensable to realize the full range of navigation part. Besides, in aerial remote sensing, photogrammetry and laser scanning, we can get exterior orientation elements by attitude of device. Based on Picard solving quaternion differential equation realized the real-time dynamic attitude matrix updating and attitude solution. Comparison of IMU three axis output, calculation error of heading is 0.036183°, pitch is 0.007969° and roll is 0.009627°. Finally, verify the feasibility and stability of Picard solving attitude.

机译：态度信息是不可或缺的，以实现全系列导航部分。此外，在空中遥感，摄影测量和激光扫描中，我们可以通过设备的态度来获得外部方向元素。基于Picard求解四元音微分方程实现了实时动态态度矩阵更新和姿态解决方案。 IMU三轴输出的比较，标题的计算误差为0.036183°，间距为0.007969°，辊为0.009627°。最后，验证了Picard解决态度的可行性和稳定性。

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《International Conference on Sensors, Measurement and Intelligent Materials》|2014年||共6页
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作者
Zhiyang Gou; Laiwei Jiang; Shenghong Fan; Changru Liu; Qiang Wang;
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中图分类 TP212-532;
关键词
Differential equations; coordinate rotation; attitude matrix; quaternion updates;

机译：微分方程;坐标旋转;姿态矩阵;四元数更新;

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4. Attitude solution for carrier based on quaternion differential equation of Picard solver [C] . Zhiyang Gou, Laiwei Jiang, Shenghong Fan, International Conference on Sensors, Measurement and Intelligent Materials . 2014

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Attitude solution for carrier based on quaternion differential equation of Picard solver

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