P12 Rotation vector 导航原理英文版教材.pptVIP

Definition of rotation vector Suppose a body rotates around axis n for angle from position R to R’. Then rotation vector φ is defined as or written as vs. quaternion: Rotation vector differential equation Using rotation vector in SINS -- vehicle frame at time k -- navigation frame at k -- vehicle frame at time k+1 -- navigation frame at k+1 non-commutative error Coning motion As vehicle vibrates around its two axes with same frequency but different phase angles the third axis will make coning motion around its central position. Using Generally As , Rotation vector algorithm (2-S) Solving φ --- vehicle’s rotation vector from time k to k+1 Suppose ω changes linearly with time, that is Suppose there are two angular increment outputs within each computing period, that is Then 2-samples algorithm 3-dimension outputs Derivation 3 Derivation 4 2-Samples algorithm Other number of samples 1-S algorithm Suppose , we have 3-S algorithm Suppose , we have 4-S algorithm Suppose , we have Rotation vector and quaternion 1 Recalling Peano-Baker solution for where Rotation vector and quaternion 2 or written as where If then