Research on the attitude update algorithm of SINS based on MIMU

Jun Fu; Hongxiang Han

doi:10.1117/12.2542239

18 December 2019 Research on the attitude update algorithm of SINS based on MIMU

Jun Fu, Hongxiang Han

Proceedings Volume 11334, AOPC 2019: Optoelectronic Devices and Integration; and Terahertz Technology and Applications; 113340F (2019) https://doi.org/10.1117/12.2542239
Event: Applied Optics and Photonics China (AOPC2019), 2019, Beijing, China

Abstract

In order to improve the attitude calculation accuracy of Strapdown inertial navigation system based on MIMU, this paper introduces the common methods of Strapdown inertial navigation and compares and analyzes them. The experimental results show that, under the condition of low dynamic, through the comparison and analysis of three attitude update algorithms of Euler angle method, quaternion with the Runge-Kuta method and equivalent rotation vector method., it is found that the quaternion with the Runge-Kuta method and the two-way equivalent rotational vector method are equivalent to the calculation accuracy, which is better than Euler angle method, and the calculation amount of the two-child-like equivalent rotational vector method is less than quaternion numbers algorithm.

Citation Download Citation

Jun Fu and Hongxiang Han "Research on the attitude update algorithm of SINS based on MIMU", Proc. SPIE 11334, AOPC 2019: Optoelectronic Devices and Integration; and Terahertz Technology and Applications, 113340F (18 December 2019); https://doi.org/10.1117/12.2542239

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