A NEW MATHEMATICAL FORMULATION FOR STRAPDOWN INERTIAL NAVIGATION PDF

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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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This paper has citations. Topics Discussed in This Paper.

The major problem in this method is the wellknown phenomenon of noncommutativity of finite rota-tions. This paper has highly influenced 13 ofrmulation papers. Skip to search form Skip to main content.

Henk LuingePeter H. In order to differentiate 10two derivativesare obtained first.

A New Mathematical Formulation for Strapdown Inertial Navigation

A differential equation is developed for the orientation vector relating the body frame to a chosen reference frame. If the update process is slowed down toease the computational load, system bandwidth and ac-curacy are sacrificed.

Ambulatory measurement of arm orientation. It is shown in [2] thatunder certain reasonable conditions knertial system designchoices,IJI.

From This Paper Topics from this paper. The development given here is original with theauthor and highly motivated in a physical sense. This integration is carried out numer-ically using the incremental outputs from the systemgyros. Further, an example is given of the applica-tion of this formulation to a typical rigid body rotation problem. Even the most efficient algorithmplaces a moderate to heavy burden on the navigationsystem computer.

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Showing of extracted citations. It is precisely this matheamtical rate vector that causes the computational problems when numerically integrating the direction cosine matrix.

Veltink Medical and Biological Engineering and Computing Measuring orientation of human body segments using miniature gyroscopes and accelerometers Henk LuingePeter H.

The orientation vector formulation allows thenoncommutativity contribution to be isolated and, therefore,treated separately and advantageously. Semantic Scholar estimates that this publication has citations based on the available data.

Symbolic hybrid system diagram. Computational problem Reference frame video Numerical analysis. The geometry of rotation.

A New Mathematical Formulation for Strapdown Inertial Navigation

Citations Publications citing this paper. Post on Aug views. Laning’s complete and eleganttreatment of finite angles and rotations was presented in ratherabstract terms.

By clicking accept or continuing to use the site, you agree to the terms outlined in our Privacy PolicyTerms of Serviceand Dataset License. It is precisely this navigatuon rate vector that causes thecomputational problems when numerically integrating the direc-tion cosine matrix. 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.

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Baten Journal of biomechanics 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. I The mathematical theory presented here was actually intro-duced by J. Citation Statistics Citations 0 20 40 ’70 ’86 ‘ VeltinkChris T. The time derivative of this vector is the sum of the inertially measurable angular velocity vector and of the inertially nonmeasurable noncommutativity rate vector.

An orientation vector mechanization is presented for a strap-down inertial system. Unfortunately, at the timethere was no sustaining external interest in this work and theresults never became widely known. The basic principle involved is to generate a set ofsignals fotmulation, Uy, mathrmatical oz kathematical the components of thenoncommutativity rate vector a.