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    Method and system for initial quaternion and attitude estimation
    6.
    发明公开
    Method and system for initial quaternion and attitude estimation 有权
    Verfahren und System zuranfänglichenQuaternion- undLageschätzung

    公开(公告)号：EP2472225A3

    公开(公告)日：2016-05-25

    申请号：EP11195146.3

    申请日：2011-12-22

    申请人： Systron Donner Inertial, Inc.

    发明人： Fortier, Matthew D.

    IPC分类号： G01C21/16 ,  B64G1/24 ,  B64G1/00

    CPC分类号： G01C21/16 ,  B64G1/002 ,  B64G1/24 ,  B64G2001/245

    摘要： Techniques are provided to determine an initial quaternion transform that is used to transform measurements received from accelerometer, rate sensor and inertial reference subsystems from a vehicle coordinate frame to an inertial navigation frame. Methods disclosed determine corrective angular rates to use as a feedback signal to rotate the quaternion transform to counter errors that result when transforming a gravity vector and an inertial reference vector (e.g., a magnetic North reference vector) that are being measured by the accelerometer and an inertial reference subsystems, respectively. The initial quaternion determination is performed during a time period when the only substantial acceleration on the vehicle is due to gravity. The initial quaternion can be used for processing various guidance, navigation and control functions.

    摘要翻译： 提供了用于确定用于将从加速度计，速率传感器和惯性参考子系统接收的测量值从车辆坐标系转换到惯性导航框架的初始四元数变换的技术。 所公开的方法确定校正角速率用作反馈信号以将四元数变换旋转到在通过加速度计测量的重力矢量和惯性参考矢量（例如，磁性北参考矢量）的转换时产生的反差， 惯性参考子系统。 在车辆的唯一实际加速度是由于重力的时间段期间执行初始的四元数确定。 初始四元数可用于处理各种指导，导航和控制功能。