Application of spiral theory in strapdown inertial navigation algorithm

The algorithm defines thrust velocity frame,gravitational velocity frame,position frame.Using screw theory as a mathematical tool,a new strapdown inertial navigation(INS) algorithm is proposed.The algorithm utilizes screw vector to represent rotation and translation' and updates attitude and velocity simultaneously.The kinematic equations based on dual quaternion are deduced in SINS.Screw compensation algorithm including coning and sculling compensations reduces the noncommutable error caused by rigid body's rotation effectively.The simulation result shows that when high-precision inertial sensors are used,this new algorithm hacsa better performance than the conventional ones in highly dynamic environments.