Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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SDINS Equivalent Error Models Using the Lyapunov Transformation

Lyapunov 변환을 이용한 SDINS 등가 오차모델

  • Yu, Myeong-Jong (Dept.of Electric Computer Engineering, Seoul National University) ;
  • Lee, Jang-Gyu (Dept.of Electric Computer Engineering, Seoul National University) ;
  • Park, Chan-Guk (Dept.of Information Control Instrumentation Engineering, Kwangwoon University)
  • 유명종 (서울대학교 전기 컴퓨터공학부) ;
  • 이장규 (서울대학교 전기 컴퓨터공학부) ;
  • 박찬국 (광운대학교 정보제어공학과)
  • Published : 2002.02.01
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Abstract

In Strapdown Inertial Navigation System(SDINS), error models based on previously proposed conversion equations between the attitude errors, are only valid in case the attitude errors are small. The SDINS error models have been independently studied according to the definition of the reference frame and of the attitude error. The conversion equations between the attitude errors applicable to SDINS with large attitude errors are newly derived. Lyapunov transformation matrices are also derived from the obtained results. Furthermore the general method, which is independent of the attitude error and the reference frame to derive SDINS error model, is proposed using the Lyapunov transformation.

Keywords

References

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