제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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- Pages.672-675
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- 1996
수평축 자세운동이 있는 배에서의 전달정렬 알고리즘 설계
Design of transfer alignment algorithm in ship of horizontal axis attitude motion
- Song, Ki-Won ;
- Jeon, Chang-Bae ;
- Kim, Hyun-Baek ;
- Yoo, Jun
- 발행 : 1996.10.01
초록
This paper presents algorithm including Kalman filter for transfer alignment of velocity and quaternion matching method, when master inertial navigation system is a gimbled type and slave inertial navigation system is a strapdown type on a cruising ship which is naturally in motion of horizontal axis attitude. And relative attitudes are considered on a measurement equation for quaternion matching between master INS and slave INS.