Research of statistical properties of co-ordinates estimation in a strapdown inertial navigating system using the quaternion approach of transformation of coordinates

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Authors: Konakov A. S., Shavrin V. V., Tislenko V. I., Savin A. A.

Annotation: The algorithm for the definition of a navigating vector of the consumer was offered and it is based on the condition and Kalman filter variables in strapdown inertial navigating system which uses the quaternion approach to the rotary motion description. Calculation accuracy characteristics of the given algorithm are done. There was investigated the influence of frequency of data receipt on accuracy of location.

Keywords: strap down inertial navigation systems, quaternion, kalman filter