A new approximative method for attitude correction in inertial navigation systems

2016 7th International Conference on Mechanical and Aerospace Engineering (ICMAE) Pub Date : 2016-07-18 DOI:10.1109/ICMAE.2016.7549572

H. Mohammadkarimi, H. Nobahari, A. Sharifi

{"title":"A new approximative method for attitude correction in inertial navigation systems","authors":"H. Mohammadkarimi, H. Nobahari, A. Sharifi","doi":"10.1109/ICMAE.2016.7549572","DOIUrl":null,"url":null,"abstract":"In this paper, a novel algorithm for correcting the error of attitude in inertial navigation systems is introduced. Since the oftenly used differential equations of the navigation errors show the small rotation angles instead of the error of Euler angles, the nonlinear equation between the small rotation angles and the error of Euler angles, are derived. To obtain an approximative solution for the derived equations, third order multiplication of the small rotation angles are ignored and error of Euler angles are expressed explicitly as functions of the Euler angles and the small rotation angles. Based on the obtained solution, a new algorithm for attitude correction in inertial navigation is developed. A comprehensive numerical simulation is performed and superiority of the proposed algorithm than the usual method used for attitude correction, is shown. The proposed algorithm has smaller error in calculation of Euler angles. Also, the proposed method saves the orthogonality and normality conditions of the transformation matrix.","PeriodicalId":371629,"journal":{"name":"2016 7th International Conference on Mechanical and Aerospace Engineering (ICMAE)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 7th International Conference on Mechanical and Aerospace Engineering (ICMAE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICMAE.2016.7549572","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

Abstract

In this paper, a novel algorithm for correcting the error of attitude in inertial navigation systems is introduced. Since the oftenly used differential equations of the navigation errors show the small rotation angles instead of the error of Euler angles, the nonlinear equation between the small rotation angles and the error of Euler angles, are derived. To obtain an approximative solution for the derived equations, third order multiplication of the small rotation angles are ignored and error of Euler angles are expressed explicitly as functions of the Euler angles and the small rotation angles. Based on the obtained solution, a new algorithm for attitude correction in inertial navigation is developed. A comprehensive numerical simulation is performed and superiority of the proposed algorithm than the usual method used for attitude correction, is shown. The proposed algorithm has smaller error in calculation of Euler angles. Also, the proposed method saves the orthogonality and normality conditions of the transformation matrix.

查看原文本刊更多论文

惯性导航系统姿态修正的一种新的近似方法

提出了一种新的惯性导航系统姿态误差校正算法。由于常用的导航误差微分方程显示的是小旋转角而不是欧拉角误差，因此推导了小旋转角与欧拉角误差之间的非线性方程。为了得到导出方程的近似解，忽略了小旋转角的三阶乘法，将欧拉角误差明确表示为欧拉角和小旋转角的函数。在此基础上，提出了一种新的惯性导航姿态校正算法。最后进行了全面的数值仿真，结果表明该算法比常用的姿态校正方法具有优越性。该算法在计算欧拉角时误差较小。该方法省去了变换矩阵的正交性和正态性条件。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

2016 7th International Conference on Mechanical and Aerospace Engineering (ICMAE)

自引率

0.00%

发文量