A General Euler Angle Error Model of Strapdown Inertial Navigation Systems

Abstract

Featured Application: The proposed general Euler angle error model can intuitively describe the process of attitude motion. Especially in large-angle attitude movements, such as missile erection and manipulator control, real-time attitude information can be measured, after which the attitude motion can be optimized.Abstract: Attitude error models play an important role in analyzing the characteristics of navigation error propagation for the design and operation of strapdown inertial navigation systems (SINS). However, the majority of existing attitude error models focus on misalignment, rather than Euler angle errors. Misalignment cannot directly describe attitude error propagation, which is an indirect measurement. To solve the problem, a general Euler angle error model of SINS is proposed. Based on Euler angle error propagation analysis, relative Euler angle errors, and convected Euler angle errors are introduced to compose the general Euler angle error model. Simulation experiments are carried out to verify the proposed model.

Adaptive regulation of the weights of REQUEST used to magnetic and inertial measurement unit based on hidden Markov model

“…For training mode, (4) and KF are used to construct patterns from static outputs of the sensors in MIMU, and then the Baum-Welch algorithm (the construct patterns are taken as input) is used to train HMM in order to get the values of its parameters. For working mode, (4) and KF are used again to construct patterns from the outputs of the sensors in MIMU, and then the forward algorithm (the construct patterns are taken again as inputs) is used in order to get the matching probabilities between the patterns and the HMM. The matching probabilities are eventually used as the values of as in REQUEST.…”

“…As a matter of fact, the attitude can also be got if only the output information given by gyroscope is used. The suitable algorithms for information fusion under that condition include direction cosine matrix algorithm [1], quaternion algorithm [2], rotation vector algorithm [3], and Euler angles algorithm [4], which are all based on the solution of attitude differential equations. The dynamic performances (i.e.…”

Impact of Motion-Dependent Errors on the Accuracy of an Unaided Strapdown Inertial Navigation System

“…However, the analysis applies only to the stationary conditions when the spatial (non-gravitational) accelerations of inertial measurement unit (IMU) are much smaller than gravity acceleration. The analysis presented in [ 3 ] applies to the case of a moving base but considers only the orientation error. The models used are derived and presented analytically, highlighting the relationships involved.…”

Monte Carlo study of uncertainty propagation in Euler rotational kinematic equation

“…The uncertainties of the rates of change will further propagate to the Euler angles, in which we use them to describe the orientation of the sensor. Doing above analysis using conventional propagation of uncertainties method can be complicated [3]. We use instead the Monte Carlo method [4] to simulate the propagation of uncertainty in Euler rotational kinematic equation.…”