Strapdown Inertial Navigation System Algorithms Based on Geometric Algebra

摘要

This paper develops the strapdown inertial navigation system (SDINS) algorithm by using geometric algebra (GA). The kinematic equation of the motor is derived and applied to design the GA-based navigation kinematic equations. These equations combine the attitude and velocity/position integrations which are treated respectively in the traditional SDINS algorithm, and they can be solved by normal differential equation methods. The consistency of the presented algorithm with the traditional algorithm is justified. Simulations are carried out under both ideal and nonideal inertial sensor configurations. The results show that this proposed algorithm can improve the navigation precision remarkably, and restrain the errors caused by the maneuver of the vehicle apparently. Therefore, it is more suitable for navigation systems with high-precision and high-maneuver requirements.