Advertisement

A Single Frequency Strapdown Algorithm for Integrating IMUs in ECEF-Frame

  • Johann Dambeck
  • Benjamin Braun
Conference paper

Abstract

This contribution will introduce a strapdown navigation algorithm for integrating inertial measurement units (IMU), which – due to its inherent ability to propagate navigation states at the same frequency as the integrating IMU is providing measurements – is called single frequency strapdown algorithm. The algorithm will be derived w.r.t. Earth-centred Earth-fixed reference frame. Numerical results for a simulated kinematic trajectory are presented.

Keywords

Inertial Measurement Unit Angular Rate Specific Force Error Order Orientation Error 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Bortz, J.E.: A New Mathematical Formulation for Strapdown Inertial Navigation. IEEE Transactions on Aerospace and Electronic Systems AES-7(1) (1971)Google Scholar
  2. 2.
    Dambeck, J.: Geodesy & Inertial Navigation Algorithms. lecture notes, Technical University of Munich (2010)Google Scholar
  3. 3.
    Farrell, J.L.: Integrated Aircraft Navigation. Academic Press, San Diego (1976)Google Scholar
  4. 4.
    Gusinsky, V.Z., Lesyuchevsky, V.M., Litmanovich, Y.A., Musoff, H., Schmidt, G.T.: New Procedure for Deriving optimized Strapdown Attitude Algorithms. Journal of Guidance, Control & Dynamics 20(4) (1997)Google Scholar
  5. 5.
    Hairer, E., Nørsett, S.P., Wanner, G.: Solving Ordinary Differential Equations I. Nonstiff Problems, 2nd edn. Springer, Heidelberg (2000)Google Scholar
  6. 6.
    Ignagni, M.B.: Optimal Strapdown Attitude Integration Algorithms. Journal of Guidance, Control & Dynamics 13(2) (1990)Google Scholar
  7. 7.
    Laning, J.H.: The vector analysis of finite rotations and angles. Massachusetts Institute of Technology, Cambridge, MIT/IL Special Rept. 6398-S-3 (1949)Google Scholar
  8. 8.
    Lee, J.G., Yong, J.Y., Mark, J.G., Tazartes, D.A.: Extension of Strapdown Attitude Algorithm for High-Frequency Base Motion. J. of Guidance, Control & Dynamics 13(4) (1990)Google Scholar
  9. 9.
    Miller, R.B.: A New Strapdown Attitude Algorithm. J. of Guidance, Control & Dynamics 6(4) (1983)Google Scholar
  10. 10.
    National Imaginary and Mapping Agency (NIMA): World Geodetic System 1984. Technical Report 8350.2, 3rd edn. (2000)Google Scholar
  11. 11.
    Savage, P.: Strapdown Inertial Navigation Integration Algorithm Design Part 1: Attitude Algorithms. Journal of Guidance, Control and Dynamics 21(1) (1998)Google Scholar
  12. 12.
    Savage, P.: Strapdown Inertial Navigation Integration Algorithm Design Part 2: Velocity and Position Algorithms. Journal of Guidance, Control and Dynamics 21(2) (1998)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Johann Dambeck
    • 1
  • Benjamin Braun
    • 2
  1. 1.MBDAGermany
  2. 2.Technische Universität MünchenGermany

Personalised recommendations