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http://dx.doi.org/10.5139/JKSAS.2007.35.7.627

Hybrid Dual Quaternion Algorithm For Precise Strapdown Inertial Navigation  

Shim, Ju-Young (한국항공대학교 항공전자공학과 대학원)
Lee, Han-Sung (서울대학교 전기컴퓨터공학부)
Park, Chan-Gook (서울대학교 기계항공공학부)
Yu, Myeong-Jong (국방과학연구소 기술연구본부)
Lee, Hyung-Keun (한국항공대학교 항공전자공학과)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.35, no.7, 2007 , pp. 627-632 More about this Journal
Abstract
Dual quaternion is efficient methodology to express rotation and translation of the vehicle's movements in the unified frame work. Recently, a strapdown inertial navigation algorithm based on dual quaternion was introduced. By comparing and analyzing the classical and dual-quaternion algorithms, this paper proposes a new strapdown inertial navigation algorithm that maintains the accuracy benefit of the dual-quaternion algorithm with considerable computational reduction. Simulation results show the efficiency of the proposed hybrid strapdown navigation algorithm.
Keywords
Inertial Navigation; Quaternion; Algorithm;
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