| Citation: | WANG Qi, WANG Lixin, ZHOU Xiaogang, et al. Attitude quaternion continuous self-calibration model of hybrid inertial navigation system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2019, 45(7): 1424-1434. doi: 10.13700/j.bh.1001-5965.2018.0691(in Chinese)
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As a kind of new inertial navigation system, the hybrid inertial navigation system has the characteristics of three-axis physical platform, strapdown attitude algorithm and installed self-calibration. Based on these characteristics and in order to improve the accuracy of hybrid inertial navigation system the attitude quaternion is used to replace the traditional Euler angle to represent the rotation of three-axis physical platform in the continuous self-calibration, and the attitude quaternion continuous self-calibration model of hybrid inertial navigation system based on the gimbal angle equation is established for its error coefficient estimation.Then a quaternion unscented Kalman filter based on singular value decomposition (SVD-QUKF) is proposed by improving the traditional unscented Kalman filter (UKF) based on the characteristics of the attitude quaternion model. The simulation and experimental results prove that the proposed attitude quaternion continuous self-calibration model based on the SVD-QUKF can calibrate all the error coefficients of hybrid inertial navigation system with the relative error less than 1%, and the calibration precision and the computing speed are better than the traditional gimbal angle model based on UKF.
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