Strapdown navigation using geometric algebra: Modeling and error analysis
ICCA（2013）
摘要
A strapdown inertial navigation system (SDINS) model and two comparable error models are developed using geometric algebra (GA). GA is a powerful representational and computational system for geometry. Rigid body motions can be represented by versor products in GA framework. Therefore, the navigation equation can be recast using GA. It turns out that the principle of strapdown navigation can be expressed in three continuous motor kinematic equations, which share a unitary form. Two error models, i.e. the additive and multiplicative GA error models, are developed. The SDINS and error models presented in this paper are supposed to benefit the prospective integrated navigation filter in terms of GA.
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关键词
versor products,integrated navigation filter,inertial navigation,additive ga error model,computational modeling,error analysis,sdins model,geometric algebra,navigation equation,strapdown inertial navigation system model,representational system,multiplicative ga error model,algebra,ga framework,computational system,geometry,continuous motor kinematic equations,rigid body motions,navigation,mathematical model,earth,acceleration,vectors
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