INS algorithm using quaternion model for low cost IMU |
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Authors: | Xiaoying |
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Affiliation: | University of Technology, Sydney, Australia |
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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. |
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Keywords: | Author Keywords: Quaternion Inertial navigation system Global positioning system Navigation algorithm |
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