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《Journal of Applied Sciences》 2010-06
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Simplified Dual-Quaternion Navigation Algorithm

WU Gao-long~(1,2),LIU Hua-wei~1,HAO Shun-yi~1,ZHANG Zong-lin~1 1.Engineering College,Air Force Engineering University,Xi'an 710038,China 2.Unit 95380,PLA,Suixi 524329,Guangdong Province,China  
The original dual-quaternion navigation algorithm involves many complex operations and requires a large amount of computation.A simplified algorithm is proposed for dual-quaternion navigation to make extraction of gravitational velocity and position vectors easier.The notation of the simplified algorithm is unambiguous.After that,the formula for extracting non-gravitational velocity is further simplified.Simulation shows that the simplified method provides the same precision as the original dual-quaternion algorithm, both being better than the traditional strap-down navigation algorithm.The computation complexity of the proposed method is the least among the three,while position error of the approximate algorithm is close to that of the original dual-quaternion algorithm.
【CateGory Index】: V249.32
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