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《Journal of Harbin Engineering University》 2008-01
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Rapid matching alignment algorithm of inertial navigation system based on quaternion

XIONG Zhi-lan,HAO Yan-ling,SUN Feng(College of Automation,Harbin Engineering University,Harbin 150001, China)  
The rapid matching alignment method of the inertial navigation system(INS) for the small misalignment had already been more mature,and had met the requirements from rapid and accuracy.However,the problem of the large initial misalignment was often appeared.In order to solve it,two kinds of the nonlinear INS rapid matching alignment based on the multiplicative quaternion and the additive quaternion were proposed and deduced,respectively.Then,the estimation effects of these models were compared and analyzed by simulation,as well as the effect of the modified model using the misalignment to replace the quaternion in the multiplicative quaternion alignment model.The simulation results show that the rapid matching algorithm based on quaternion can solve the problem of the INS alignment with the large misalignment,and can make the convergence rate of the azimuth misalignment to be almost the same as the convergence rate of the level misalignment.
【Fund】: 国家自然科学基金资助项目(60674087/F03)
【CateGory Index】: TN966
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