스트랩다운 관성항법시스템의 가속도 변환 알고리즘

An acceleration transformation algorithm for strapdown inertial navigation system

In tihs paper, an acceleratiion transformation algorithm which compensates the sculling error is proposed for strapdown inertial navigation system. The algorithm utilize the corss-product of the acceleromenter outputs and gyro outputs to keep the accuracy of the vehicle velocity under high frequency dynamic motion. From the error analysis of the algorithm, it is shown that the magnitude of estimation error is reduced by four orders.