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2019•Unpublished venueRequires access

Analytical Solution of an Approximate Equation for the Vector of a Rigid Body Finite Rotation and its Application to Construct the Algorithm for Determining the Strapdown INS Orientation

Alexei V. Molodenkov, S.E. Perelyaev, Ya. G. Sapunkov, Т. В. Молоденкова

Open publisher page 2 citations

Abstract

The analytical solution of an approximate equation for the vector of a rigid body finite rotation has made it possible to solve the problem of determining the quaternion of orientation of a rigid body for an arbitrary angular velocity and small angle of rotation of a rigid body with the help of quadratures. Proceeding from this solution, the following approach to the design of a new algorithm for computation of strapdown INS orientation is proposed.

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What this paper is about

The analytical solution of an approximate equation for the vector of a rigid body finite rotation has made it possible to solve the problem of determining the quaternion of orientation of a rigid body for an arbitrary angular velocity and small angle of rotation of a rigid body with the help of quadratures. Proceeding from this solution, the following approach to the design of a new algorithm for computation of strapdown INS orientation is proposed.

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Available abstract

The analytical solution of an approximate equation for the vector of a rigid body finite rotation has made it possible to solve the problem of determining the quaternion of orientation of a rigid body for an arbitrary angular velocity and small angle of rotation of a rigid body with the help of quadratures. Proceeding from this solution, the following approach to the design of a new algorithm for computation of strapdown INS orientation is proposed.

Key concepts: Quaternion, Orientation (vector space), Rigid body, Rotation (mathematics), Computation, Angular velocity, Rotation matrix, Mathematics

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Analytical Solution of an Approximate Equation for the Vector of a Rigid Body Finite Rotation and its Application to Construct the Algorithm for Determining the Strapdown INS Orientation — Research Paper | ScholarLens