Abstract: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 addit… Show more
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