The Research Of SINS Algorithms Based On Dual Quaternions

Inertial Navigation System algorithm is one of the core inertial navigation technology,especially in high dynamic environment,the presence of non-exchangeable error would seriously affect the accuracy of SINS.When the carrier is in highly dynamic environments,the presence of the support intense angular vibration,linear vibration can generate an error-exchange,to design high-precision attitude,speed,position update algorithm to compensate.Therefore,the design precision navigation algorithm,is very meaningful.In this paper,the laboratory developed fiber optic gyro-based,navigation algorithm from the perspective of the existing strap-down algorithm related improvements.Focus on the use of dual quaternion this tool,the associated solver and analysis in inertial navigation systems.The main contents of this paper are the following aspects:Firstly,introducethe basic principle of inertial navigation algorithms,different coordinate systems and related conversion inertial navigation system.For different update methods inertial navigation system attitude matrix were analyzed and compared,analyzed SINS speed of the algorithm,location algorithm,designed different update cycles of SINS.Sencondly,according to the non-exchangeable error in navigation,this paper analysisMechanism of the cone errors,and made a detailed analysis of the causes of errors generated by the cone;The cone algorithm was optimized in typical conical motion.The coning error compensation algorithm based on angular rate was designed,and compared with angular increments extraction method.It was proved that the new algorithm had higher accuracy.The sculling compensation algorithms was also derived in this paper.Thirdly,from the characteristics dual quaternion,it analyzed the dual quaternion how to representsa rigid body rotation with translational.Based on the principle coordinate separate,the thrust,gravity velocity and position coordinates was designed,and dual quaternion was updated at the appropriate coordinate system.And,this paper re-derived the dual quaternion navigation initial value,and theconversion between traditional initial value and dual quaternion.Fourthly,this paper analyzed the consistency between dual quaternion algorithms and traditional algorithms,and designed the spiral vector algorithm based on dual quaternions.It studied the reasons that the dual quaternion algorithm is superior to the traditional in attitude and speed algorithms.It designed a simplification algorithm of dual quaternion navigation.The simulation results showed that the dual quaternion algorithms weresuperior to conventional navigation algorithms.Finally,according to dual quaternion navigation algorithms,the carrier was designed in severe angular vibration and line vibration to prove the superiority of dual quaternionalgorithms.The associated simulationresults showed that there were high advantages under high dynamic environment;At last,using the lab's Fiber optic gyro to make swing experiments to verify the dual quaternion navigation algorithm correctness.