### 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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Veltink Medical and Biological Engineering and Computing The time derivative of this vector is the sum of the inertially measurable angular velocity vector and of the inertially nonmeasurable noncommutativity rate vector. This paper has citations. By clicking accept or continuing to use the site, nabigation agree to the terms outlined in our Privacy PolicyTerms of Serviceand Dataset License.

Further, an example is given of the applica-tion of this formulation to a typical rigid body rotation problem. The development given here is original with theauthor and highly motivated in a physical sense. It is precisely this noncommutativity rate vector that causes the computational problems when numerically integrating the direction cosine matrix. 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.

Computational problem Reference frame video Numerical analysis.

Topics Discussed in This Paper. An orientation vector mechanization is presented for a strap-down inertial system.

## A New Mathematical Formulation for Strapdown Inertial Navigation

It is shown in [2] thatunder certain reasonable conditions and system designchoices,IJI. If the update process is slowed down toease the computational load, system bandwidth and ac-curacy are sacrificed. A differential equation is developed for the orientation vector relating the body frame to a chosen reference frame. Measuring orientation of human body starpdown using miniature gyroscopes and accelerometers Henk LuingePeter H.

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

See our FAQ for additional information. Showing of extracted citations. It is precisely this noncommutativity rate vector that causes thecomputational problems when numerically integrating the direc-tion cosine matrix. I The mathematical theory presented here was actually intro-duced by J.

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Even the most efficient algorithmplaces a moderate to heavy burden on the navigationsystem matgematical. The major problem in this method is the wellknown phenomenon of noncommutativity of finite rota-tions.

This paper has highly influenced 13 other papers. Symbolic hybrid system diagram. Semantic Scholar estimates that this publication has citations based on the available data.

Post on Aug views. Ambulatory measurement of arm orientation. From This Paper Topics from this paper. VeltinkChris T. In order to differentiate 10two derivativesare obtained first.

Unfortunately, at the timethere was no sustaining external interest in this work and theresults never became widely known. The geometry of rotation. This integration is carried out numer-ically using the incremental outputs from the systemgyros.

Henk LuingePeter H. The orientation vector formulation allows thenoncommutativity contribution to be isolated and, therefore,treated separately and advantageously. Citation Statistics Citations 0 20 40 ’70 ’86 ‘ The timederivative of this vector is the sum of the inertially measurableangular velocity vector and of the inertially nonmeasurablenoncommutativity rate vector.

Citations Publications citing this neew. The basic principle involved is to generate a set ofsignals aX, Uy, and oz representing the components of thenoncommutativity rate vector a.