Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2003.9.7.556

Derivation of Attitude Error Differential Equations by Platform Torque Commands  

김갑진 (국방과학연구소)
송기원 (국방과학연구소)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.9, no.7, 2003 , pp. 556-562 More about this Journal
Abstract
This paper presents new attitude error differential equations to define attitude errors as the rotation vector for inertial navigation systems. Attitude errors are defined with the rotation vector between the reference coordinate frame and the platform coordinate frame, and Platform dynamics to the reference coordinate frame due to platform torque command errors are defined. Using these concepts for attitude error definition and platform dynamics, we have derived attitude error differential equations expressed in original nonlinear form for GINS and SDINS and showed that these are equivalent to attitude error differential equations expressed in known linear form. The relation between attitude errors defined by the rotation vector and attitude errors defined by quaternion is clearly presented as well.
Keywords
inertial navigation system; coordinate frame; attitude error; torque command; rotation vector; quaternion;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 G. M. Siouris, Aerospace Avionics Systems: A Modern Synthesis, Academic Press, 1993
2 Goshen-Meskin and I. Y. Bar-Itzhack, 'Unified approach to inertial navigation system error modeling,' Journal of Guidance, Control, and Dynamics, vol. 15, no. 3, May-June 1992
3 B. Friedland, 'Analysis strapdown navigation using quaternion,' IEEE Transactions on Aerospace and Electronic Systems, AES-14, no. 5, Sep., 1978   DOI   ScienceOn
4 유명종, 김현백, 전창배, '스트랩다운 관성항법시스템의 비선형 자세오차 미분방정식,' 한국항공우주학회지, 제23권 5호, pp. 118-125, 1995
5 이형근, 이장규, 노용규, 박찬국, '쿼터니언 오차모델과 등가오차모델의 비교,' 한국항공우주학회지, 25권, 2호, pp. 142-154, 1997   과학기술학회마을
6 D. O. Benson, JR., 'A comparison of two approches to pure-inertial and doppler-inertial error analysis,' IEEE Transactions on Aerospace and Electronic Systems, AES-11, no.4, July, 1975   DOI   ScienceOn
7 유명종, 이장규, 박찬국, 'Lyapunov 변환을 이용한 SDINS 등가오차모델,' Journal of Control, Automation and Systems Engineering, vol. 8, no. 2, Feb., 2002   과학기술학회마을   DOI
8 Y. F. Jiang, Y. P. Lin, 'On the rotation vector differential equation,' IEEE Transactions on Aerospace and Electronic Systems, vol. 27, no. 1, Jan., 1991   DOI   ScienceOn
9 K. R. Britting, Inertial Navigation System Analysis, John Wiley & Sons, Inc., 1971
10 D. H. Titterton, J. L. Weston, Strapdown Inertial Navigation Technology, Peter Peregrinus Ltd. 1997
11 M. J. Yu, J. G. Lee, H. W. Park, 'Comparison of SDINS in-flight alignment using equivalent error models,' IEEE Transactions on Aerospace and Electronic Systems, vol. 35, no. 3, July, 1999   DOI   ScienceOn