Minimal Parameter Solution of the Quaternion Differential EquationMinimal Parameter Solution of the Quaternion Differential Equation

摘要

The efficiently calculate of the attitude matrix is an important subject in the Strap-down Inertial Navigation System (SINS), because the precision of its solution directly effects on the system performance. A new method of 3rd order minimal parameter solution for the orthogonal matrix differential equation is used to solve the quaternion differential equation of SINS in this paper, and the numerical simulation is done as well. From the simulation result, we can see that when the new algorithm is used, the precision of the solved attitude angles is two orders higher than the classical method, and the floating-point operations is only abort half of the old one.