NEW EQUATIONS AND ALGORITHMS OF SENS ORIENTATION AND NAVIGATION IN FOUR-DIMENSIONAL SKEW-SYMMETRIC OPERATORS

摘要

New equations and algorithms for strapdown inertial navigation systems (SDINS), intended for precision estimation of the parameters of inertial orientation of an object (Rodrigues-Hamilton (Euler) parameters) and the projections of the apparent velocity of a moving object on the inertial and body-fixed axes, are proposed. The equations and algorithms are derived using the Cayley formulas, quaternions and biquaternions with zero scalar parts, and the principle of Kotelnikov-Study transference. The proposed quaternion and biquaternion equations have the form of kinematic Riccati-type equations. The derived algorithms use integral raw information about object's motion, and have third or fourth order of accuracy. This paper develops and generalizes the results, derived in [1-3].