A Quaternion-Based Method for SINS/SAR Integrated Navigation System

A new quaternion-based method for the SINS/SAR (strap-down inertial navigation system/synthetic aperture radar) integrated navigation system is presented. This method overcomes the shortcomings due to the linear SINS error model used in the currently existing SINS/SAR integrated navigation systems. A quaternion-based matrix is derived for describing the attitude of SINS. Quaternion-based nonlinear error and observation models are established for the SINS/SAR integrated navigation system. An adaptive unscented particle filtering (UPF) algorithm is developed based on the quaternion-based nonlinear models for optimal data fusion in the SINS/SAR integrated navigation system. Experimental results demonstrate that the proposed quaternion based method can effectively reduce the navigation error and improve the navigational positioning precision.

[1]  B. Ickes.  A new method for performing digital control system attitude computations using quaternions , 1970 .

[2]  R. Pio.  Euler angle transformations , 1966 .

[3]  Xinlong Wang.  Fast alignment and calibration algorithms for inertial navigation system , 2009 .

[4]  James L. Farrell,et al.  Integrated aircraft navigation , 2012 .

[5]  I. Bar-Itzhack,et al.  Novel quaternion Kalman filter , 2002, IEEE Transactions on Aerospace and Electronic Systems.

[6]  B. P. Ickes,et al.  A new method for performing digital control system attitude computations using quaternions , 1968 .

[7]  Nando de Freitas,et al.  The Unscented Particle Filter , 2000, NIPS.

[8]  D. Hu,et al.  Strapdown inertial navigation system algorithms based on dual quaternions , 2005 .

[9]  Bijan Shirinzadeh,et al.  Multi-sensor optimal data fusion for INS/GPS/SAR integrated navigation system , 2009 .

[10]  B. Friedland.  Analysis Strapdown Navigation Using Quaternions , 1978, IEEE Transactions on Aerospace and Electronic Systems.

[11]  Donald Benson,et al.  A Comparison of Two Approaches to Pure-Inertial and Doppler-Inertial Error Analysis , 1975, IEEE Transactions on Aerospace and Electronic Systems.

[12]  Yeon Fuh Jiang,et al.  Error analysis of quaternion transformations (inertial navigation) , 1991 .

[13]  Jamshaid Ali,et al.  Realization of an autonomous integrated suite of strapdown astro-inertial navigation systems using unscented particle filtering , 2009, Comput. Math. Appl..

[14]  James B. Rawlings,et al.  Particle filtering and moving horizon estimation , 2006, Comput. Chem. Eng..

[15]  George M. Siouris,et al.  Aerospace Avionics Systems: A Modern Synthesis , 1993 .

[16]  M. Kaplan.  Modern spacecraft dynamics & control , 1976 .

[17]  Itzhack Y. Bar-Itzhack.  Identity between INS position and velocity error models , 1981 .

[18]  Itzhack Y. Bar-Itzhack,et al.  Identity between INS position and velocity error equations in the true frame , 1988 .

[19]  Dewen Hu,et al.  Strapdown inertial navigation system algorithms based on dual quaternions , 2005, IEEE Transactions on Aerospace and Electronic Systems.

[20]  M. Kaplan.  Modern Spacecraft Dynamics and Control , 1976 .

[21]  James C. Wilcox,et al.  A New Algorithm for Strapped-Down Inertial Navigation , 1967, IEEE Transactions on Aerospace and Electronic Systems.

[22]  Bijan Shirinzadeh,et al.  Random weighting estimation for fusion of multi-dimensional position data , 2010, Inf. Sci..

[23]  Chan Gook Park,et al.  Strapdown INS error model for multiposition alignment , 1996 .

[24]  Jang Gyu Lee,et al.  Comparison of SDINS in-flight alignment using equivalent error models , 1999 .

[25]  Yongmin Zhong,et al.  Random weighting estimation of kernel density , 2010 .

[26]  Wei Li,et al.  Robust adaptive filtering method for SINS/SAR integrated navigation system , 2011 .

[27]  Xudong Ma,et al.  Robust tracking of moving sound source using scaled unscented particle filter , 2008 .

[28]  Robin B. Miller.  A new strapdown attitude algorithm , 1983 .

[29]  Xiaoying Kong.  INS algorithm using quaternion model for low cost IMU , 2004, Robotics Auton. Syst..

[30]  Chan Gook Park,et al.  Modeling quaternion errors in SDINS: computer frame approach , 1998 .

[31]  Warren F. Phillips,et al.  Mechanics of Flight , 2004 .

[32]  D. Hu,et al.  Strapdown inertial navigation using dual quaternion algebra: error analysis , 2006 .

[33]  M. Shibata.  Error analysis strapdown inertial navigation using quaternions , 1986 .