Extension of strapdown attitude algorithm for high-frequency base motion

Lee, Jang G.; Mark, J. G.; Tazartes, Daniel A.; Yoon, Young-Joong

doi:10.2514/3.25393

Cited by 86 publications

(42 citation statements)

References 3 publications

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“…Because the previous researchers only focus on pure coning environment [3,7,8] or focus on vibration environments [17,18], the third term (i.e., the triple-cross-product term) in (1) is small under these environments and has been ignored to simplify the integration of rotation vector as in [11] φ (t) = α (t) + δφ c (t) (2) where the variable t is within the range of t m−1 ≤ t ≤ t m . The continuous coning integral becomes [8] δφ…”

Section: The Error Of the Triple-cross-product Term In Angular Dymentioning

confidence: 99%

High-order attitude compensation in coning and rotation coexisting environment

Wang

et al. 2015

IEEE Trans. Aerosp. Electron. Syst.

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With the development of high-accuracy inertial navigation system inertial sensors, such as ring laser gyroscopes and atomic spin gyroscopes, it is increasingly important to improve the strapdown inertial navigation algorithms to match such high-accuracy inertial sensors. For example, the existing inertial navigation algorithms have not taken into account the triple-cross-product term of noncommutativity error. However, theoretical analysis demonstrates that the ignored triple-cross-product term is nonignorable under coning motion with constant angular rate precession environments. In this paper, a new high-accuracy rotation vector algorithm is proposed for strapdown inertial navigation. The Taylor series about time is used for error analysis and optimization of the new algorithm. General maneuvers and coning motion with constant angular rate precession environments are considered in establishing the coefficient equations in the proposed algorithm. Error drift equations are given after the error compensation. Normalized quaternion under coning motion with constant angular rate precession environments and Savage's severe integrated angular-rate profiles are used to numerically verify the new algorithm. The results Manuscriptindicate that the new high-order attitude updating algorithm can improve inertial navigation accuracy.NOMENCLATURE δφ c (t) = coning integral over the time interval from t m−1 to t δφ hA (t) = the integral of the triple-cross product noncommutativity rate vector over the time interval from t m−1 to t related to the coning motion, which is called the triple-cross-product term part A δφ hB (t) = the integral of the triple-cross-product noncommutativity rate vector over the time interval from t m−1 to t related to the high dynamic motion, which is called the triple-cross-product term part B δφ hA (t) = algorithms for the triple-cross-product term part A δφ hB (t) = algorithms for the triple-cross-product term part B δφ hA = nonperiodic vector of the triple-cross-product term part A in one updating cycle δφ hB = nonperiodic vector of the triple-cross-product term part B in one updating cycle δφ hA = nonperiodic vector of the triple-cross-product term part A algorithms δφ hB = nonperiodic vector of the triple-cross-product term part B algorithms α N+1−i (t) = gyro data samples spaced backward in time from time t α N+1−j (t) α N+1−k (t) ς ij = coefficients of uncompressed frequency series coning algorithms and triple-cross-product term part A's algorithms η (N+i−1) = coefficients of triple-cross-product term part B's algorithms (N+j −1) (N+k−1) a, b = coning motion amplitude c = coefficient of constant angular-rate precession = coning frequency T 0 = sampling period T = attitude updating cycle N = total number of samples used in one attitude updating cycle 1178 IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS VOL. 51, NO. 2 APRIL 2015 n = number of samples in the current iteration time interval m = computer interval index, where the subscript indicates parameter value at computer cycle m o () = a...

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Section: The Error Of the Triple-cross-product Term In Angular Dymentioning

confidence: 99%

High-order attitude compensation in coning and rotation coexisting environment

Wang

et al. 2015

IEEE Trans. Aerosp. Electron. Syst.

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“…In 1983, Miller [3] introduced the concept of designing the coning correction algorithm for optimum performance in a pure coning environment. By extension of Miller's technique, Lee [4] developed an algorithm in which four gyro samples were used. In 1998, Savage [5] provided a rigorous comprehensive approach to the design of the principal software algorithms utilized in modern-day strapdown inertial navigation systems: integration of angular rate into attitude.…”

Section: Introductionmentioning

confidence: 99%

Coning algorithm design by batch-processing

Wang

Huang

Fang

et al. 2013

2013 Chinese Automation Congress

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Coning algorithm is the kernel during attitude algorithm design in strapdown inertial navigation. A new approach is presented for strapdown coning algorithm design based on batch-processing. Unlike previous time or frequency Taylor series expansion techniques, the new method achieves the rotation vector through discrete Fourier transforms(DFT) and inverse Fourier transforms(IFT) of the inputs. This methodology allows the coning algorithm to be design in frequency, which might be a novel aspect to the coning algorithm. Performance of the new algorithm design technique is evaluated by comparison with previous time approaches, typically four-sample algorithm, in pure coning environments. Simulation results indicate that the new method reduces the coning error when the coning frequency is under 100Hz. The new method might be an alternate method during ship navigation where the coning frequency is not very high.

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“…Moreover, the larger the amount of subsamples is, the smaller the drifting error is. Several drifting errors for different algorithms of conventional structure are provided in Table 1 [12,19,20].…”

Section: The Conventional Structure Of Attitude Algorithmmentioning

confidence: 99%

A Real-Time Structure of Attitude Algorithm for High Dynamic Bodies

Li¹,

Zhang²

2017

Journal of Control Science and Engineering

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To solve the real-time problem of attitude algorithm for high dynamic bodies, a real-time structure of attitude algorithm is developed by analyzing the conventional structure that has two stages, and a flow diagram of a real-time structure for a Matlab program is provided in detail. During the update of the attitude matrix, the real-time structure saves every element of attitude matrix in minor loop in real time and updates the next attitude matrix based on the previous matrix every subsample time. Thus, the real-time structure avoids lowering updating frequency, though the multisubsample algorithms are used. Simulation and analysis show that the real-time structure of attitude algorithm is better than the conventional structure due to short update time of attitude matrix and small drifting error, and it is more appropriate for high dynamic bodies.

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Extension of strapdown attitude algorithm for high-frequency base motion

Cited by 86 publications

References 3 publications

High-order attitude compensation in coning and rotation coexisting environment

High-order attitude compensation in coning and rotation coexisting environment

Coning algorithm design by batch-processing

A Real-Time Structure of Attitude Algorithm for High Dynamic Bodies

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