Strapdown navigation using geometric algebra: Modeling and error analysis
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 navigatio...
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| description | 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 additive and multiplicative GA error models, are developed. The SDINS and error models presented in this paper are supposed to benefit the prospective integrated navigation filter in terms of GA. |
| doi_str_mv | 10.1109/ICCA.2013.6564966 |
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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 additive and multiplicative GA error models, are developed. 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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 additive and multiplicative GA error models, are developed. The SDINS and error models presented in this paper are supposed to benefit the prospective integrated navigation filter in terms of GA.</description><subject>Acceleration</subject><subject>Computational modeling</subject><subject>Earth</subject><subject>Equations</subject><subject>Error Analysis</subject><subject>Geometric Algebra</subject><subject>Inertial Navigation</subject><subject>Mathematical model</subject><subject>Navigation</subject><subject>Vectors</subject><issn>1948-3449</issn><issn>1948-3457</issn><isbn>9781467347075</isbn><isbn>1467347078</isbn><isbn>146734706X</isbn><isbn>9781467347082</isbn><isbn>1467347086</isbn><isbn>9781467347068</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2013</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo90EtLw0AUBeDxBdaaHyBu8gdS72Te7krwUai4UMFdudO5CSNpUiZR6b9Xsbo6Bz44i8PYBYcZ5-CuFlU1n5XAxUwrLZ3WB-yMS22ENKBfD9mEO2kLIZU5Ypkz9s-MOv436U5ZNgxvAMDBKg0wYYunMeE29J9d3uFHbHCMfZe_D7Fr8ob6DY0prnNsG_IJr_OHPlD7Y9iFnFLq03fDdjfE4Zyd1NgOlO1zyl5ub56r-2L5eLeo5ssicqPGguugUEpwyD3hmjtlRUAXUBtb1mADcbQkSlqTQhGorIUC8l6gBx9KL6bs8nc3EtFqm-IG0261f0V8AfdqUzc</recordid><startdate>201306</startdate><enddate>201306</enddate><creator>Zhengzhi Wang</creator><creator>Dimin Wu</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201306</creationdate><title>Strapdown navigation using geometric algebra: Modeling and error analysis</title><author>Zhengzhi Wang ; Dimin Wu</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-16d5a4409a1beac19583da9da6782f08de1a8e32ece5a3de2f350ebb3ab0bd2b3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2013</creationdate><topic>Acceleration</topic><topic>Computational modeling</topic><topic>Earth</topic><topic>Equations</topic><topic>Error Analysis</topic><topic>Geometric Algebra</topic><topic>Inertial Navigation</topic><topic>Mathematical model</topic><topic>Navigation</topic><topic>Vectors</topic><toplevel>online_resources</toplevel><creatorcontrib>Zhengzhi Wang</creatorcontrib><creatorcontrib>Dimin Wu</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Zhengzhi Wang</au><au>Dimin Wu</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Strapdown navigation using geometric algebra: Modeling and error analysis</atitle><btitle>2013 10th IEEE International Conference on Control and Automation (ICCA)</btitle><stitle>ICCA</stitle><date>2013-06</date><risdate>2013</risdate><spage>1435</spage><epage>1440</epage><pages>1435-1440</pages><issn>1948-3449</issn><eissn>1948-3457</eissn><isbn>9781467347075</isbn><isbn>1467347078</isbn><eisbn>146734706X</eisbn><eisbn>9781467347082</eisbn><eisbn>1467347086</eisbn><eisbn>9781467347068</eisbn><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 additive and multiplicative GA error models, are developed. The SDINS and error models presented in this paper are supposed to benefit the prospective integrated navigation filter in terms of GA.</abstract><pub>IEEE</pub><doi>10.1109/ICCA.2013.6564966</doi><tpages>6</tpages></addata></record> |
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| subjects | Acceleration Computational modeling Earth Equations Error Analysis Geometric Algebra Inertial Navigation Mathematical model Navigation Vectors |
| title | Strapdown navigation using geometric algebra: Modeling and error analysis |
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