Research Of SINS Algorithm Based On Dual Quaternion

Research and design high precision strap-down inertial navigation algorithm used fordynamic environment is one of the key technologies for conventional ammunition guidancesystem. Traditional strap-down algorithm uses vector algebra as the theoretical basis,calculating the translation movement and rotation of the rigid body respectively, which usedirection cosine matrix or quaternion to study rotation problem and vector to solve thetranslation movement problem. In realization of engineering, strap-down algorithm needs todesign attitude update algorithm and specific force integration algorithm, which broke theintegrity of rigid body in the space and has difficult to realize high precision requirementsunder the environment of high dynamic and high rotation.This article applies spiral theory to strap-down algorithm design, using the mathematicaltool of dual quaternion to integrate attitude update calculation and velocity update calculation,which can ensure the integrity of rigid body space motion in the process of computation andreduce the complex degree of strap-down algorithm design and realization. Combined withthe research status at home and abroad, study on the strap-down inertial navigation algorithmsresearch based on dual quaternion. The main research contents as follows: research themethod of describing rigid body space motion using dual quaternion; deduce and prove spiralvector differential equation, and then design spiral compensation algorithm under spiralenvironment; arranged the strap-down inertial navigation algorithms based on dual quaternion;compared the similarities and differences of traditional algorithm and dual quaternion in formand the essence; finally, simulation analysis for the algorithm by simulating ballistic trajectory,the results shows that using spiral algorithm with high samples can improve the calculatingprecision, and under the same sample, calculation precision of spiral algorithm is better thantraditional rotation vector algorithm obviously.Key words: dual quaternion, spiral vector, spiral compensation...