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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The major problem in this method is the wellknown phenomenon of noncommutativity of finite rota-tions. Baten Journal of biomechanics Even the most efficient algorithmplaces a moderate to heavy burden on the navigationsystem computer. Symbolic hybrid system diagram. The geometry of rotation. Unfortunately, at the timethere was no sustaining external interest in this work and theresults never became widely known.

Citation Statistics Citations 0 20 40 ’70 ’86 ‘ Measuring orientation of human body segments using miniature gyroscopes and accelerometers Henk LuingePeter H. An orientation vector mechanization is presented for a strap-down inertial system. I The mathematical theory presented here was actually intro-duced by J. It is precisely this noncommutativity rate vector that causes thecomputational problems when numerically integrating the direc-tion cosine matrix.

## A New Mathematical Formulation for Strapdown Inertial Navigation

Mathemztical 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. Post on Aug views. Computational problem Reference frame video Numerical analysis. See our FAQ for additional information.

If the update process is slowed down toease the computational load, system bandwidth and ac-curacy are sacrificed. From This Paper Topics from this paper. Semantic Scholar estimates that this publication has citations based on the available data. This paper has citations. This integration is carried out numer-ically using the incremental outputs from the systemgyros. Further, an example is given of the applica-tion of this formulation to a typical rigid body rotation problem.

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. Skip to search form Skip to main content. Citations Publications citing this paper.

Showing of extracted citations. It is precisely this noncommutativity rate vector formhlation causes the computational problems when numerically integrating the direction cosine matrix. Topics Discussed in This Paper. In order to differentiate 10two derivativesare obtained first.

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

Henk LuingePeter H. The orientation vector formulation allows thenoncommutativity contribution to be isolated and, therefore,treated separately and advantageously. The timederivative of this vector is the sum of the inertially measurableangular velocity vector and of the inertially nonmeasurablenoncommutativity rate vector.

The development given here is original with theauthor and highly motivated in a physical inertil. Laning’s complete and eleganttreatment of finite angles and rotations was presented in ratherabstract terms. The time derivative of this vector is the sum of the inertially measurable angular velocity vector and of the inertially nonmeasurable noncommutativity rate vector.

By clicking accept or continuing to use the site, you agree to the terms outlined in our Privacy PolicyTerms of Serviceand Dataset License. It is shown inretial [2] thatunder certain reasonable conditions and system designchoices,IJI. This paper has highly influenced 13 other papers. VeltinkChris T. A differential equation is developed for the orientation vector relating the body frame to a chosen reference frame.