Open Access
ARTICLE
Non-Exchangeable Error Compensation for Strapdown Inertial Navigation System in High Dynamic Environment
Qi Wang1, 2, *, Changsong Yang2, 3, Shao’en Wu4
1 School of Computer and Software, Nanjing University of Information Science and Technology, Nanjing,
210044, China.
2 Jiangsu Engineering Center of Network Monitoring, Nanjing University of Information Science and
Technology, Nanjing, 210044, China.
3 School of Automation, Nanjing University of Information Science and Technology, Nanjing, 210044, China.
4 Department of Computer Science, Ball State University, Muncie, 47306, USA.
* Corresponding Author: Qi Wang. Email: .
Computers, Materials & Continua 2020, 64(2), 973-986. https://doi.org/10.32604/cmc.2020.07575
Received 06 June 2019; Accepted 05 September 2020; Issue published 10 June 2020
Abstract
Strapdown non-exchangeable error compensation technology in high dynamic
environment is one of the key technologies of strapdown inertial navigation system.
Mathematical platform is used in strapdown inertial navigation system instead of physical
platform in traditional platform inertial navigation system, which improves reliability and
reduces cost and volume of system. The maximum error source of attitude matrix
solution is the non-exchangeable error of rotation due to the non-exchangeable of finite
rotation of rigid bodies. The rotation non-exchangeable error reaches the maximum in
coning motion, although it can be reduced by shortening the correction period and
increasing the real-time calculation. The equivalent rotation vector method is used to
modify the attitude to reduce the coning error in this paper. Simulation experiments show
that the equivalent rotation vector method can effectively suppress the non-exchangeable
error and improve the accuracy of attitude calculation.
Keywords
Cite This Article
Q. Wang, C. Yang and S. Wu, "Non-exchangeable error compensation for strapdown inertial navigation system in high dynamic environment,"
Computers, Materials & Continua, vol. 64, no.2, pp. 973–986, 2020.
Citations