INS algorithm using quaternion model for low cost IMU

Kong, X

INS algorithm using quaternion model for low cost IMU

Kong, X

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Publication Type:: Journal Article
Citation:: Robotics and Autonomous Systems, 2004, 46 (4), pp. 221 - 246
Issue Date:: 2004-04-30

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Field	Value	Language
dc.contributor.author	Kong, X https://orcid.org/0000-0001-7855-858X	en_US
dc.date.issued	2004-04-30	en_US
dc.identifier.citation	Robotics and Autonomous Systems, 2004, 46 (4), pp. 221 - 246	en_US
dc.identifier.issn	0921-8890	en_US
dc.identifier.uri	http://hdl.handle.net/10453/4199
dc.description.abstract	This paper presents a generic inertial navigation system (INS) error propagation model that does not rely on small misalignment angles assumption. The modelling uses quaternions in the computer frame approach. Based on this model, an INS algorithm is developed for low cost inertial measurement unit (IMU) to solve the initial attitudes uncertainty using in-motion alignment. The distribution approximation filter (DAF) is used to implement the non-linear data fusion algorithm. © 2004 Elsevier B.V. All rights reserved.	en_US
dc.relation.ispartof	Robotics and Autonomous Systems	en_US
dc.relation.isbasedon	10.1016/j.robot.2004.02.001	en_US
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	INS algorithm using quaternion model for low cost IMU	en_US
dc.type	Journal Article
utslib.citation.volume	4	en_US
utslib.citation.volume	46	en_US
utslib.for	0913 Mechanical Engineering	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CRIN - Realtime Information Networks
utslib.copyright.status	closed_access
pubs.issue	4	en_US
pubs.publication-status	Published	en_US
pubs.volume	46	en_US

Abstract:

This paper presents a generic inertial navigation system (INS) error propagation model that does not rely on small misalignment angles assumption. The modelling uses quaternions in the computer frame approach. Based on this model, an INS algorithm is developed for low cost inertial measurement unit (IMU) to solve the initial attitudes uncertainty using in-motion alignment. The distribution approximation filter (DAF) is used to implement the non-linear data fusion algorithm. © 2004 Elsevier B.V. All rights reserved.

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http://hdl.handle.net/10453/4199