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Proceedings Paper

Research on the attitude update algorithm of SINS based on MIMU
Author(s): Jun Fu; Hongxiang Han
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Paper Abstract

In order to improve the attitude calculation accuracy of Strapdown inertial navigation system based on MIMU, this paper introduces the common methods of Strapdown inertial navigation and compares and analyzes them. The experimental results show that, under the condition of low dynamic, through the comparison and analysis of three attitude update algorithms of Euler angle method, quaternion with the Runge-Kuta method and equivalent rotation vector method., it is found that the quaternion with the Runge-Kuta method and the two-way equivalent rotational vector method are equivalent to the calculation accuracy, which is better than Euler angle method, and the calculation amount of the two-child-like equivalent rotational vector method is less than quaternion numbers algorithm.

Paper Details

Date Published: 18 December 2019
PDF: 6 pages
Proc. SPIE 11334, AOPC 2019: Optoelectronic Devices and Integration; and Terahertz Technology and Applications, 113340F (18 December 2019); doi: 10.1117/12.2542239
Show Author Affiliations
Jun Fu, Naval Univ. of Engingeering (China)
Hongxiang Han, Naval Univ. of Engineering (China)


Published in SPIE Proceedings Vol. 11334:
AOPC 2019: Optoelectronic Devices and Integration; and Terahertz Technology and Applications
Zhiping Zhou; Xiao-Cong Yuan; Daoxin Dai, Editor(s)

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