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A New Mathematical Formulation for Strapdown Inertial Navigation
Abstract
A differential equation is developed for the orientation vector relating the body frame to a chosen reference frame. The time derivative of this vector is the sum of the inertially measurable angular velocity vector and of the inertially nonmeasurable noncommutativity rate vector. It is precisely this noncommutativity rate vector that causes the computational problems when numerically integrating the direction cosine matrix. The orientation vector formulation allows the noncommutativity contribution to be isolated and, therefore, treated separately and advantageously. 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 rigid body rotation problem.
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Cited by
Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
Kuindersma, S., Deits, R., Fallon, M., Valenzuela, A., Dai, H., Permenter, F., Koolen, T., Marion, P., & Tedrake, R. (2016) · Autonomous Robots · doi:10.1007/s10514-015-9479-3 · Cited by 835
Mayagoitia, R. E., Nene, A. V., & Veltink, P. H. (2002) · Journal of Biomechanics · doi:10.1016/s0021-9290(01)00231-7 · Cited by 655
Measuring orientation of human body segments using miniature gyroscopes and accelerometers
Luinge, H. J., & Veltink, P. H. (2005) · Medical & Biological Engineering & Computing · doi:10.1007/bf02345966 · Cited by 647
Estimating Three-Dimensional Orientation of Human Body Parts by Inertial/Magnetic Sensing
Sabatini, A. M. (2011) · Sensors · doi:10.3390/s110201489 · Cited by 349
Ambulatory Position and Orientation Tracking Fusing Magnetic and Inertial Sensing
Roetenberg, D., Slycke, P. J., & Veltink, P. H. (2007) · IEEE Transactions on Biomedical Engineering · doi:10.1109/tbme.2006.889184 · Cited by 334
Metadata
- Authors
- Bortz, J.
- Venue
- IEEE Transactions on Aerospace and Electronic Systems
- Published
- 1971-01
- Volume
- AES-7
- Issue
- 1
- Pages
- 61-66
- ISSN
- 0018-9251 (ISSN-L)
- OpenAlex
- W2071674008
- Cited by
- 416
- References
- 0
- FWCI
- 1.93
- Type
- journal article
- Language
- en
- Open access
- closed
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