A NEW MATHEMATICAL FORMULATION FOR STRAPDOWN INERTIAL NAVIGATION PDF

An orientation vector mechanization is presented for a strap down inertial system. Further, an example is given of the applica tion of this formulation to a typical. Title: A New Mathematical Formulation for Strapdown Inertial Navigation. Authors : Bortz, John. Publication: IEEE Transactions on Aerospace and Electronic. Aug 9, A New Mathematical Formulation for Strapdown Inertial Navigation JOHN E. BORTZ, Member, IEEE The Analytic Sciences Corporation.

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Laning’s complete and eleganttreatment of finite angles and rotations was presented in ratherabstract terms.

A New Mathematical Formulation for Strapdown Inertial Navigation

Citations Publications citing this paper. VeltinkChris T. Unfortunately, at the timethere was no sustaining external interest in this work and theresults never became widely known. See our FAQ for additional information. The major problem in this method is the wellknown phenomenon of noncommutativity of finite rota-tions. Baten Journal of biomechanics The basic principle involved is to generate a set ofsignals aX, Uy, and oz representing the components of thenoncommutativity rate vector a. It is shown in [2] thatunder certain reasonable conditions and system designchoices,IJI.

The orientation vector formulation allows thenoncommutativity contribution to be isolated and, therefore,treated separately and advantageously.

The two conventional ways of combatting errorsdue to this effect are 1 to update the direction cosinematrix at or near the mathematiccal rebalance frequency using asimple update algorithm or 2 to update the directioncosine matrix after many rebalance cycles using a moresophisticated algorithm. This paper has citations. A differential equation is developed for the orientation vector relating the body frame to a chosen reference frame. Henk LuingePeter H.

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This integration is carried out numer-ically using the incremental outputs from the systemgyros. The geometry of rotation.

Showing of xtrapdown citations. The development given here is original with theauthor and highly motivated in a physical sense. An orientation vector mechanization is presented for a strap-down inertial system.

The timederivative of this vector is the sum of the inertially measurableangular velocity vector and of the inertially nonmeasurablenoncommutativity rate vector. Further, an example is given of the applica-tion of this formulation to a typical rigid body rotation problem.

A New Mathematical Formulation for Strapdown Inertial Navigation

Symbolic hybrid system diagram. It is precisely this noncommutativity rate vector that causes thecomputational problems when numerically integrating the direc-tion cosine matrix. Computational problem Reference frame video Numerical analysis. The time derivative of this vector is the sum of the inertially measurable angular velocity vector and of the inertially nonmeasurable noncommutativity rate vector. Measuring orientation of human body segments using miniature gyroscopes and accelerometers Henk LuingePeter H.

Topics Discussed in This Paper. In order to differentiate 10two derivativesare obtained first. Even the most efficient algorithmplaces a moderate to heavy formulationn on the navigationsystem computer.

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Ambulatory measurement of arm orientation. I The mathematical theory presented here was actually intro-duced by J.

Semantic Scholar estimates that this publication has citations based on the available data. If the update process is slowed down toease the computational load, system bandwidth and ac-curacy are sacrificed. It is precisely this noncommutativity rate vector that causes the computational problems when numerically integrating the direction cosine matrix.

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Post on Aug views. From This Paper Topics from this paper. Veltink Medical and Biological Engineering and Computing By clicking accept or continuing to formukation the site, you agree to the terms outlined in our Privacy PolicyTerms of Serviceand Dataset License.

Citation Statistics Citations 0 20 40 ’70 ’86 ‘ This paper has highly influenced 13 other papers.