A Quaternion-Based Method for SINS/SAR Integrated Navigation System

A Quaternion-Based Method for SINS/SAR Integrated Navigation System

A new quaternion-based method for the SINS/SAR (strap-down inertial navigation system/synthetic aperture radar) integrated navigation system is presented. This method overcomes the shortcomings due to the linear SINS error model used in the currently existing SINS/SAR integrated navigation systems....

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Veröffentlicht in:IEEE transactions on aerospace and electronic systems 2012-01, Vol.48 (1), p.514-524
Hauptverfasser: Zhong, Yongmin, Gao, Shesheng, Li, Wei
Format: Artikel
Sprache:eng
Schlagworte:
Adaptation models
Algorithms
Computational modeling
Data fusion
Equations
Errors
Filtering
Inertial navigation
Mathematical models
Navigation systems
Nonlinearity
Quaternions
Silicon compounds
Synthetic aperture radar
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Zusammenfassung:A new quaternion-based method for the SINS/SAR (strap-down inertial navigation system/synthetic aperture radar) integrated navigation system is presented. This method overcomes the shortcomings due to the linear SINS error model used in the currently existing SINS/SAR integrated navigation systems. A quaternion-based matrix is derived for describing the attitude of SINS. Quaternion-based nonlinear error and observation models are established for the SINS/SAR integrated navigation system. An adaptive unscented particle filtering (UPF) algorithm is developed based on the quaternion-based nonlinear models for optimal data fusion in the SINS/SAR integrated navigation system. Experimental results demonstrate that the proposed quaternion based method can effectively reduce the navigation error and improve the navigational positioning precision.
ISSN:0018-9251
1557-9603
DOI:10.1109/TAES.2012.6129652