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.

Author: Kazragami Tegore
Country: Liechtenstein
Language: English (Spanish)
Genre: Sex
Published (Last): 19 March 2008
Pages: 372
PDF File Size: 10.62 Mb
ePub File Size: 11.98 Mb
ISBN: 152-7-52952-441-5
Downloads: 63471
Price: Free* [*Free Regsitration Required]
Uploader: Akijinn

A formylation equation is developed for the orientation vector relating the body frame to a chosen reference strapxown. From This Paper Topics from this paper. This integration is carried out numer-ically using the incremental outputs from the systemgyros. 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 basic principle involved is to generate a set ofsignals aX, Uy, and oz representing the components of thenoncommutativity rate vector a. Even the most efficient algorithmplaces a moderate to heavy burden on the navigationsystem computer. Topics Discussed in This Paper.

Henk LuingePeter H. The two conventional ways of combatting errorsdue to this effect are 1 to update the direction cosinematrix at or near the gyro rebalance frequency using asimple update algorithm or 2 to update the directioncosine matrix after many rebalance cycles using a moresophisticated algorithm.

  DBL339 DATASHEET PDF

I The mathematical theory presented here was actually intro-duced by J. By clicking accept or continuing to use the site, you agree to the terms outlined in our Privacy PolicyTerms of Serviceand Dataset License.

Semantic Scholar estimates that this publication has citations based on the available data. Showing of extracted citations. The time derivative of this vector is the sum of the inertially measurable angular velocity vector strapdlwn of the inertially nonmeasurable noncommutativity rate vector. It is precisely this noncommutativity rate vector that formuoation thecomputational problems when numerically integrating the direc-tion cosine matrix.

Ambulatory measurement of arm orientation. Unfortunately, at the timethere was no sustaining external interest in this work and theresults never became widely known. It is precisely this noncommutativity rate vector that causes the computational problems when numerically integrating the direction cosine matrix. In order to differentiate 10two derivativesare obtained first.

Citation Statistics Citations 0 20 40 ’70 ’86 ‘ 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

This paper has citations. The major problem in this method is the wellknown phenomenon of noncommutativity of finite rota-tions.

  AMBE MAA NI AARTI IN GUJARATI PDF

Skip to search form Skip to main content. VeltinkChris T. The development given here is original with theauthor and highly motivated in a physical sense.

A New Mathematical Formulation for Strapdown Inertial Navigation

If the update process is slowed down toease the computational load, system bandwidth and ac-curacy are sacrificed. Symbolic hybrid system diagram. Post on Aug views. Veltink Mathematicak and Biological Engineering and Computing Laning’s complete and eleganttreatment of finite angles and rotations was strapdonw in ratherabstract terms. Measuring orientation of human body segments using miniature gyroscopes and accelerometers Henk LuingePeter H.

Baten Journal of biomechanics An orientation vector mechanization is presented for a strap-down inertial system. Citations Publications citing this paper. This paper has highly influenced 13 other papers.

The timederivative of this vector is the sum of the inertially measurableangular velocity vector and of the inertially nonmeasurablenoncommutativity rate vector. See our FAQ for additional information. The geometry of rotation. Computational problem Reference frame video Numerical analysis.