发明名称 Method and system for initial quaternion and attitude estimation
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.
申请公布号 US8645063(B2) 申请公布日期 2014.02.04
申请号 US20100976603 申请日期 2010.12.22
申请人 FORTIER MATTHEW D.;CUSTOM SENSORS & TECHNOLOGIES, INC. 发明人 FORTIER MATTHEW D.
分类号 G01C21/10 主分类号 G01C21/10
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