New Procedure for Deriving Optimized Strapdown Attitude Algorithms

Gusinsky, Valery Z.; Lesyuchevsky, Vladmir M.; Litmanovich, Yu. A.; Musoff, Howard; Schmidt, G.

doi:10.2514/2.4130

Cited by 34 publications

(15 citation statements)

References 5 publications

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“…Comparing (21) with (22), we can find that when c equals zero (the platform is under pure coning motion), the triple-cross-product error in (22) will disappear since its value equals zero. However, under the condition of coning motion with large constant angular-rate precession, the value of (22) can be greater than the equal of (21).…”

Section: The Error Of the Triple-cross-product Term In Angular Dymentioning

confidence: 96%

“…Therefore, the high-accuracy algorithm proposed here can be used for high dynamic circumstances, e.g., high maneuver environments of a spinning missile [21].…”

Section: Other Aspectsmentioning

confidence: 98%

“…The same simulation initial conditions are used as in Table V except that b equals 1 deg, which is the value used in [21].…”

Section: A the Impact Of Coning Motionmentioning

confidence: 99%

“…According to [6] and (58), (21), and (22), because the periodic terms are small, we only consider the nonperiodic terms. The error drift of the traditional optimal three-sample algorithm when only compensating the coning correction term under the condition of (9) is (10):…”

Section: A Error Analysismentioning

confidence: 99%

“…It should be noted that because the constant angular-rate precession value c in Tables II and III can be easily reached by spinning missiles [20], the simulated initial condition of b in [21] was set to 1 deg. Therefore, it is reasonable to use the 0.5 and 0.1 deg for the analysis here.…”

Section: A Error Analysismentioning

confidence: 99%

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High-order attitude compensation in coning and rotation coexisting environment

Wang

et al. 2015

IEEE Trans. Aerosp. Electron. Syst.

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With the development of high-accuracy inertial navigation system inertial sensors, such as ring laser gyroscopes and atomic spin gyroscopes, it is increasingly important to improve the strapdown inertial navigation algorithms to match such high-accuracy inertial sensors. For example, the existing inertial navigation algorithms have not taken into account the triple-cross-product term of noncommutativity error. However, theoretical analysis demonstrates that the ignored triple-cross-product term is nonignorable under coning motion with constant angular rate precession environments. In this paper, a new high-accuracy rotation vector algorithm is proposed for strapdown inertial navigation. The Taylor series about time is used for error analysis and optimization of the new algorithm. General maneuvers and coning motion with constant angular rate precession environments are considered in establishing the coefficient equations in the proposed algorithm. Error drift equations are given after the error compensation. Normalized quaternion under coning motion with constant angular rate precession environments and Savage's severe integrated angular-rate profiles are used to numerically verify the new algorithm. The results Manuscriptindicate that the new high-order attitude updating algorithm can improve inertial navigation accuracy.NOMENCLATURE δφ c (t) = coning integral over the time interval from t m−1 to t δφ hA (t) = the integral of the triple-cross product noncommutativity rate vector over the time interval from t m−1 to t related to the coning motion, which is called the triple-cross-product term part A δφ hB (t) = the integral of the triple-cross-product noncommutativity rate vector over the time interval from t m−1 to t related to the high dynamic motion, which is called the triple-cross-product term part B δφ hA (t) = algorithms for the triple-cross-product term part A δφ hB (t) = algorithms for the triple-cross-product term part B δφ hA = nonperiodic vector of the triple-cross-product term part A in one updating cycle δφ hB = nonperiodic vector of the triple-cross-product term part B in one updating cycle δφ hA = nonperiodic vector of the triple-cross-product term part A algorithms δφ hB = nonperiodic vector of the triple-cross-product term part B algorithms α N+1−i (t) = gyro data samples spaced backward in time from time t α N+1−j (t) α N+1−k (t) ς ij = coefficients of uncompressed frequency series coning algorithms and triple-cross-product term part A's algorithms η (N+i−1) = coefficients of triple-cross-product term part B's algorithms (N+j −1) (N+k−1) a, b = coning motion amplitude c = coefficient of constant angular-rate precession = coning frequency T 0 = sampling period T = attitude updating cycle N = total number of samples used in one attitude updating cycle 1178 IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS VOL. 51, NO. 2 APRIL 2015 n = number of samples in the current iteration time interval m = computer interval index, where the subscript indicates parameter value at computer cycle m o () = a...

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Section: The Error Of the Triple-cross-product Term In Angular Dymentioning

confidence: 96%

“…Therefore, the high-accuracy algorithm proposed here can be used for high dynamic circumstances, e.g., high maneuver environments of a spinning missile [21].…”

Section: Other Aspectsmentioning

confidence: 98%

“…The same simulation initial conditions are used as in Table V except that b equals 1 deg, which is the value used in [21].…”

Section: A the Impact Of Coning Motionmentioning

confidence: 99%

Section: A Error Analysismentioning

confidence: 99%

Section: A Error Analysismentioning

confidence: 99%

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