A NEW MATHEMATICAL FORMULATION FOR STRAPDOWN INERTIAL NAVIGATION PDF

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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Post on Aug views. Unfortunately, at the timethere was no sustaining external interest in this work and theresults never became widely known. Citations Publications citing this paper. If the update process is slowed down toease the computational load, system bandwidth and ac-curacy are sacrificed. VeltinkChris T. I The mathematical theory presented here was actually intro-duced by J. See our FAQ for additional information.

Showing of extracted citations. Symbolic hybrid system diagram.

Veltink Medical and Biological Engineering and Computing Formulatiob geometry of rotation. Laning’s complete and eleganttreatment of finite angles and rotations was presented in ratherabstract terms.

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A New Mathematical Formulation for Strapdown Inertial Navigation

Skip to search form Skip to main content. It is precisely this noncommutativity rate vector that causes the computational problems when numerically integrating the direction cosine matrix. The basic principle involved is to generate a set ofsignals aX, Uy, and oz representing insrtial components of thenoncommutativity rate vector a.

In order to differentiate 10two derivativesare obtained first. Baten Formulatjon of biomechanics A differential equation is developed for the orientation vector relating the body frame to a chosen reference frame.

Citation Statistics Citations 0 20 40 ’70 ’86 ‘ The orientation vector formulation allows thenoncommutativity contribution to be isolated and, therefore,treated separately and advantageously.

A New Mathematical Formulation for Strapdown Inertial Navigation – [PDF Document]

Measuring orientation of human body segments using miniature gyroscopes and accelerometers Henk LuingePeter H. Further, an example is given of the applica-tion of this formulation to a typical rigid body rotation problem. It is shown in [2] thatunder certain reasonable conditions and system designchoices,IJI. It is precisely this noncommutativity rate vector that mavigation thecomputational problems when numerically integrating the direc-tion cosine matrix.

Ambulatory measurement of arm orientation. Even the most efficient algorithmplaces a moderate to heavy burden on the navigationsystem computer. Henk LuingePeter H. This paper has highly influenced 13 other papers. An orientation vector mechanization is presented for a strap-down inertial system. The development given here is original with theauthor and highly motivated in a physical sense.

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This integration is carried out numer-ically using the incremental outputs from the systemgyros. 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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A New Mathematical Formulation for Strapdown Inertial Navigation

The major problem in this method is the wellknown phenomenon of noncommutativity of finite rota-tions. This paper has citations. The timederivative of this vector is the sum of the inertially measurableangular velocity vector and of the inertially nonmeasurablenoncommutativity rate vector.