A Method of Inertial/GPS Integrated Navigation Based on Dual Quaternion
A dual quaternion, combined navigation technology, applied in navigation, navigation through velocity/acceleration measurement, mapping and navigation, etc., can solve the problems of reduced filtering accuracy, longer convergence time, divergence, etc., to achieve the effect of improving accuracy
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[0070] 1. Establish gyro and accelerometer error models
[0071] Gyro error includes constant drift error, first-order Markov process random noise and white noise error. Accelerometer error is modeled as first-order Markov process random noise. The specific error model is as follows:
[0072]
[0073]
[0074] in, is the gyro error, ε b is the gyro constant value drift error, ε r is the first-order Markov process random noise of the gyroscope, ω g is white noise; δf B is the accelerometer error, is the first-order Markov process random noise of the accelerometer;
[0075] For the ε in the above formula b , ε r , After derivation, the following mathematical expressions can be obtained:
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[0077]
[0078]
[0079] in, for ε b The first derivative of ; for ε r The first derivative of ; for The first derivative of ; T g is the first-order Markov process correlation time of the gyroscope, ω r is the first-order Markov process driving w...
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