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首页> 外文期刊>IEEE Transactions on Aerospace and Electronic Systems >Modeling quaternion errors in SDINS: computer frame approach
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Modeling quaternion errors in SDINS: computer frame approach

机译：SDINS中的四元数错误建模：计算机框架方法

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摘要

We propose new equivalent tilt error models which are applicable to the analysis of the terrestrial strapdown inertial navigation systems (SDINS), based on the quaternions. The currently available equivalent tilt error models, like the conventional /spl Phi/ model of the gimbaled inertial navigation systems (GINS), are derived only by the true frame approach. The true frame approach has a computational disadvantage that it produces an error model where the attitude error equation is coupled with its position and velocity error equations. The motivation of this work is to solve this problem. As a result, two kinds of error models are derived. Among them, one is derived by the computer frame approach for practical onboard implementations. Thus, like the conventional GINS /spl Psi/ model, its attitude error equation is decoupled from the position and velocity error equations. The other is derived in order to show the relationship between the true frame approach and the computer frame approach which are applied to the quaternion-based SDINS. Thus, like the GINS /spl delta//spl Theta/ model, it can be used to transform the error variables into each other which are calculated by the two different approaches.
机译：我们基于四元数提出了新的等效倾斜误差模型，该模型适用于地面捷联惯性导航系统（SDINS）的分析。目前可用的等效倾斜误差模型（如万向节惯性导航系统（GINS）的常规/ spl Phi /模型）仅通过真实框架方法得出。真实框架方法有一个计算上的缺点，即它会产生一个误差模型，其中姿态误差方程式与其位置和速度误差方程式相耦合。这项工作的动机是解决这个问题。结果，导出了两种误差模型。其中，一种是通过计算机框架方法导出的，用于实际的机载实施。因此，像传统的GINS / spl Psi /模型一样，其姿态误差方程式与位置和速度误差方程式解耦。推导另一个是为了显示应用于基于四元数的SDINS的真实框架方法和计算机框架方法之间的关系。因此，就像GINS / spl delta // spl Theta /模型一样，它可以用于将误差变量彼此转换，这些误差变量是通过两种不同的方法计算得出的。

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