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Equations and algorithms for determining the inertial attitude and apparent velocity of a moving object in quaternion and biquaternion 4D orthogonal operators

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Abstract

We consider equations and algorithms describing the operation of strapdown inertial navigation systems (SINS) intended for determining the inertial attitude parameters (the Rodrigues–Hamilton (Euler) parameters) and the apparent velocity of a moving object. The construction of these equations and algorithms is based on the Kotelnikov–Study transference principle, Hamiltonian quaternions and Clifford biquaternions, and differential equations in four-dimensional (quaternion and biquaternion) orthogonal operators.

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Authors and Affiliations

  1. Institute for Precision Mechanics and Control Problems, Russian Academy of Sciences, ul. Rabochaya 24, Saratov, 410028, Russia

    Yu. N. Chelnokov

  2. Chernyshevskii Saratov State University, ul. Astrakhanskaya 83, Saratov, 410012, Russia

    Yu. N. Chelnokov

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  1. Yu. N. Chelnokov
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Correspondence to Yu. N. Chelnokov.

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Original Russian Text © Yu.N. Chelnokov, 2016, published in Izvestiya Akademii Nauk, Mekhanika Tverdogo Tela, 2016, No. 2, pp. 17–25.

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Chelnokov, Y.N. Equations and algorithms for determining the inertial attitude and apparent velocity of a moving object in quaternion and biquaternion 4D orthogonal operators. Mech. Solids 51, 148–155 (2016). https://doi.org/10.3103/S0025654416020023

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  • DOI: https://doi.org/10.3103/S0025654416020023

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