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Volume 39 Issue 6
Jun.  2013
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Journal of Beijing University of Aeronautics and Astronautics  > 2013  >  (6): 739-744.
Hou Yunyi, Jing Qianfeng, Ma Guangfuet al. Orbital rendezvous control method for berthing and tracking approach[J]. Journal of Beijing University of Aeronautics and Astronautics, 2012, 38(8): 1124-1128. (in Chinese)
Citation: Qian Huaming, Sun Long, Huang Wei, et al. SINS/CNS integrated navigation algorithms based on dual quaternion[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, (6): 739-744. (in Chinese)
shu

SINS/CNS integrated navigation algorithms based on dual quaternion

  • 1.

    College of Automation, Harbin Engineering University, Harbin 150001, China

  • 2. College of Electrical and Information Engineering, Heilongjiang Institute of Science and Technology, Harbin 150027, China

  • Received Date: 18 Jun 2012
  • Publish Date: 30 Jun 2013
    Abstract
  • In order to improve the navigation precision of strapdown inertial navigation systems/celestial navigation systems (SINS/CNS) integrated navigation system in high dynamic conditions, a SINS/CNS integrated navigation algorithm which based on the additive dual quaternion was proposed. The rotation and translation of carrier were unified by this algorithm, and the rotation vector was used to update dual quaternion and compensate coning error and sculling error at the same time. And derived error model based on the additive dual quaternion and error equations of navigation parameters. Then the constant errors of gyro and accelerometer were extended to be state variables, at the same time random error was used as the system input noise, and gyro drift was corrected by output parameters of star sensors. Finally, Kalman filter was used to estimate the state variables. The simulation results showed that the navigation precision of SINS/CNS integrated navigation algorithm based on the additive dual quaternion is increased by two times more than traditional algorithm in high dynamic conditions.

     

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    • References(8)
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