## 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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The orientation vector formulation allows thenoncommutativity contribution to be isolated and, therefore,treated separately and advantageously. Skip to search form Skip to main content.

## A New Mathematical Formulation for Strapdown Inertial Navigation

An orientation vector mechanization is presented for a strap-down inertial system. If the update process is slowed down toease the computational load, system bandwidth and ac-curacy are sacrificed. The time derivative of this vector is the sum of the inertially measurable angular velocity vector and of the inertially nonmeasurable noncommutativity rate vector.

Topics Discussed in This Paper. This paper has citations. It is precisely this noncommutativity rate vector that causes thecomputational problems when numerically integrating the amthematical cosine matrix. Ambulatory measurement of arm orientation.

Veltink Medical and Biological Engineering and Computing The geometry of rotation. This integration is carried out numer-ically using the incremental outputs from the systemgyros. See our FAQ for additional information. The development given here is original with theauthor and highly motivated in a physical sense. A differential equation is developed for the orientation vector relating the body frame to a chosen reference frame.

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It is shown in [2] inertiial certain reasonable conditions and system designchoices,IJI. Showing of extracted citations. In order to differentiate 10two derivativesare obtained first.

Measuring orientation of human body segments using miniature gyroscopes and accelerometers Henk LuingePeter H. Computational problem Inertiall frame video Numerical analysis. The timederivative of this vector is the sum of the inertially measurableangular velocity vector and of the inertially nonmeasurablenoncommutativity rate vector. It is precisely this noncommutativity rate vector that causes the computational problems when numerically integrating the direction cosine matrix. Unfortunately, at the timethere was no sustaining external interest in this work and theresults never became widely known.

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. Symbolic hybrid system diagram.

Even the most efficient algorithmplaces a moderate to heavy burden on the navigationsystem computer. Citations Publications citing this paper. Henk StrapodwnPeter H. I The mathematical theory presented here was actually intro-duced by J.

### A New Mathematical Formulation for Strapdown Inertial Navigation

This paper has highly influenced 13 other papers. Semantic Scholar estimates that this publication has citations based on the available data. By clicking accept or continuing to use the site, you agree to the terms outlined in our Privacy PolicyTerms of Serviceand Dataset License. Baten Journal of biomechanics Further, an example is given of the applica-tion of this formulation to a typical rigid body rotation problem. Laning’s complete and eleganttreatment of finite angles and rotations was formulatuon in ratherabstract terms.

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

The basic principle involved is to generate a set ofsignals aX, Uy, and oz representing the components of thenoncommutativity rate vector a. The major problem in this method is the wellknown phenomenon of noncommutativity of finite rota-tions. From This Paper Strapdodn from this paper. VeltinkChris T. Citation Statistics Citations 0 20 40 ’70 ’86 ‘