Improvement to classical coning algorithms in maneuver performance based on a match correction structure

Abstract

An improved class of coning algorithms is presented to promote the maneuver performance of attitude updating of strapdown inertial navigation system. The improved coning algorithm is based on the match correction structure which can be designed through revising the previous half-compressed correction structure. The improved algorithm coefficient is designed from the existing compressed algorithm according to a given relationship. In order to analyze and evaluate algorithm performance under maneuver environments, two algorithm error models are defined. Compared with the classical compressed coning algorithm, the improved coning algorithm of the corresponding version has the same algorithm throughput and coning accuracy but has higher maneuver accuracy. Especially, the improved four-sample algorithm has about two times of maneuver accuracy compared with its classical compressed version.

Closed-form quaternion representations for rigid body rotation: application to error assessment in orientation algorithms of strapdown inertial navigation systems

“…Therefore, there is no relationship between (0) and ω i (0), as it was in the cases of the first and second two-frequency solutions. Note that the angular velocity vector (35), which corresponds to quaternion (34), is exactly the same as obtained earlier by (32) for the case of quaternion ( 28) with the parameters η = 1 and ξ = 0. Rotational motion with the orientation (34) and the angular velocity vector components ( 35) is provided by the action of an external moment with components (33).…”

“…The method of optimizing algorithms for regular precession and conic motion which is based on minimizing asymptotic estimations of computational drift error was presented in [25]. The papers [8][9][10]12,20,21,23,[31][32][33] discuss improved methods for optimization of orientation algorithms and present the results of research on algorithm optimization under conditions of generalized conical motion, regular precession, random angular motion, and practical issues of effective use of algorithms, including for a specific structure of SINS. Analytical reference models that differ from cases of regular precession and conic motion are presented in [14,15].…”

An Improved Initial Alignment Method Based on SE2(3)/EKF for SINS/GNSS Integrated Navigation System with Large Misalignment Angles

“…Consequently, it is essential to find ways to achieve fast and highly accurate initial alignment under large misalignment angles, for applications like weapon launchers and guided weapons that require emergency mobile transfer. Addressing this urgent problem is crucial from both a system performance perspective in modern warfare and from practical alignment environments, data utilization, and engineering software development [4][5][6]. Hence, studying the linearized uniform initial alignment algorithm without coarse alignment at any misalignment angles is of paramount importance and offers significant theoretical and engineering benefits.…”