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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Veltink Medical and Biological Engineering and Computing The basic principle involved is to generate a set ofsignals aX, Uy, and oz representing the components of thenoncommutativity rate vector a. If the update process is slowed down toease the computational load, system bandwidth and ac-curacy are sacrificed.

By clicking accept or continuing nnew use the site, you agree to the terms outlined in our Privacy PolicyTerms of Serviceand Dataset License. It is shown in [2] thatunder certain reasonable conditions and system designchoices,IJI. This integration is carried out numer-ically using the incremental outputs from the systemgyros. The development given here is original with theauthor and highly motivated in a physical sense. Henk LuingePeter H. VeltinkChris T. See our FAQ for additional information.

The orientation vector formulation allows thenoncommutativity contribution to be isolated and, therefore,treated separately and advantageously.

Citation Statistics Citations 0 20 40 ’70 ’86 ‘ Measuring orientation of human naivgation segments using miniature gyroscopes and accelerometers Henk LuingePeter H. Skip to search form Skip to main content. Post on Aug views. Showing of extracted citations. This paper has highly influenced 13 other papers.

### A New Mathematical Formulation for Strapdown Inertial Navigation – Semantic Scholar

An orientation vector mechanization is presented for a strap-down inertial system. The geometry of rotation. In order to differentiate 10two derivativesare obtained first. From This Paper Topics from this paper. It is precisely this noncommutativity rate vector that causes thecomputational problems when numerically integrating the direc-tion cosine matrix.

I The mathematical theory presented here was actually intro-duced by J.

Symbolic hybrid system diagram. The major problem in this method is the wellknown phenomenon of noncommutativity of finite rota-tions. A differential equation is developed for the orientation vector relating the body frame to a chosen reference frame. 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.

Ambulatory measurement of arm orientation.

starpdown Unfortunately, at the timethere was no sustaining external interest in this work and theresults never became widely known. Further, an example is given of the applica-tion of this formulation to a typical rigid body rotation problem.

## A New Mathematical Formulation for Strapdown Inertial Navigation

Even the most efficient algorithmplaces a moderate to heavy burden on the navigationsystem computer. Laning’s complete and eleganttreatment of finite angles and rotations was presented in ratherabstract terms. Baten Journal of biomechanics Citations Publications citing this paper. Semantic Scholar estimates that this publication has citations based on the available data. 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 nww integrating the direction cosine matrix. Topics Discussed ineertial This Paper. The time derivative of this vector is the sum of the inertially measurable angular velocity vector and of the inertially nonmeasurable noncommutativity rate vector.

This paper has citations. Computational problem Knertial frame video Numerical analysis.