An orientation vector mechanization is presented for a strap down inertial system. Further, an example is given of the applica tion of this formulation to a typical. Title: A New Mathematical Formulation for Strapdown Inertial Navigation. Authors : Bortz, John. Publication: IEEE Transactions on Aerospace and Electronic. Aug 9, A New Mathematical Formulation for Strapdown Inertial Navigation JOHN E. BORTZ, Member, IEEE The Analytic Sciences Corporation.

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Veltink Medical and Biological Engineering and Computing Semantic Scholar estimates that this publication has citations based on the available data. Skip to search form Skip to main content. Symbolic hybrid system diagram. In order to differentiate 10two fomulation obtained first. See our FAQ for additional information. I The mathematical theory presented here was actually intro-duced by J.

### A New Mathematical Formulation for Strapdown Inertial Navigation – Semantic Scholar

The two conventional ways of combatting errorsdue to this effect are 1 to update the direction cosinematrix at or near the gyro rebalance frequency using asimple update algorithm or 2 to update the directioncosine matrix after many rebalance cycles using a moresophisticated algorithm. Topics Discussed in This Paper. By clicking accept or continuing to use the site, you agree to the terms outlined in our Privacy PolicyTerms of Serviceand Dataset License.

Measuring orientation of human body segments using miniature gyroscopes and accelerometers Henk LuingePeter H. Post on Aug views. Even the most efficient algorithmplaces a moderate to heavy burden on the navigationsystem computer.

The development given here is original with theauthor and highly motivated in a physical sense. The major problem in this method is the wellknown phenomenon of noncommutativity of finite rota-tions. This integration is carried out numer-ically using the incremental outputs from the systemgyros.

A differential equation is developed for the orientation vector relating the body frame to a chosen reference frame. Showing of extracted citations.

This paper has highly influenced 13 other papers. VeltinkChris T. Ambulatory measurement of arm orientation. Laning’s complete and eleganttreatment of finite angles and rotations was presented in ratherabstract terms.

The geometry of rotation.

### A New Mathematical Formulation for Strapdown Inertial Navigation – [PDF Document]

Unfortunately, at the timethere was no sustaining external interest in this nqvigation and theresults never became widely known.

The time derivative of this vector is the sum of the inertially measurable angular velocity vector and of the inertially nonmeasurable noncommutativity rate vector. Baten Journal of biomechanics The basic principle involved is to generate a set ofsignals aX, Uy, and oz representing the components of thenoncommutativity rate vector a.

An orientation vector mechanization is presented for a strap-down inertial system. If the update process is slowed down toease the computational load, system bandwidth and ac-curacy are sacrificed.

It is shown in [2] thatunder certain reasonable conditions and system designchoices,IJI. This paper has citations. It is precisely this noncommutativity rate vector that causes the computational problems when numerically integrating the direction cosine matrix. Citations Publications citing this paper. It is precisely this noncommutativity rate vector that causes thecomputational problems when numerically integrating the direc-tion cosine matrix.

From This Paper Topics from this paper. Henk LuingePeter H.

## A New Mathematical Formulation for Strapdown Inertial Navigation

Citation Statistics Citations 0 20 40 ’70 ’86 ‘ Further, an example is given of the applica-tion of this formulation to a typical rigid body rotation problem.

Computational problem Reference frame video Numerical analysis.

The timederivative formuulation this vector is the sum of the inertially measurableangular velocity vector and of the inertially nonmeasurablenoncommutativity rate vector. The orientation vector formulation allows thenoncommutativity contribution to be isolated and, therefore,treated separately and advantageously.