Code Optimization for Strapdown Inertial Navigation System Algorithm
Apstrakt
Inertial navigation systems are in common use for decades due to its advantages. Since INS outputs are usually used for inputs in different control algorithms (depending on applications), INS will induce certain errors and limitations. This chapter deals with optimization of the inertial navigation algorithm against limitations due to the accuracy and stability of signals from the sensors and constraints resulting from the integration step and processor speed used for embedded applications. Inertial navigation considered here is “strapdown” inertial navigation system (SINS) which assumes a fixed inertial measurement unit (IMU). In this chapter, fundamentals of strapdown inertial navigation will be presented as well as three different algorithms which will be analyzed in regard to numerical stability, time consumption and processor load criteria.
Ključne reči:
strapdown inertial navigation system / quaternions / forward Euler integration / code optimization / code analysesIzvor:
Space Flight, 2018, 59-78Izdavač:
- IntechOpen
Kolekcije
Institucija/grupa
Mašinski fakultetTY - CHAP AU - Todić, Ivana AU - Kuzmanović, Vladimir PY - 2018 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4487 AB - Inertial navigation systems are in common use for decades due to its advantages. Since INS outputs are usually used for inputs in different control algorithms (depending on applications), INS will induce certain errors and limitations. This chapter deals with optimization of the inertial navigation algorithm against limitations due to the accuracy and stability of signals from the sensors and constraints resulting from the integration step and processor speed used for embedded applications. Inertial navigation considered here is “strapdown” inertial navigation system (SINS) which assumes a fixed inertial measurement unit (IMU). In this chapter, fundamentals of strapdown inertial navigation will be presented as well as three different algorithms which will be analyzed in regard to numerical stability, time consumption and processor load criteria. PB - IntechOpen T2 - Space Flight T1 - Code Optimization for Strapdown Inertial Navigation System Algorithm EP - 78 SP - 59 DO - 10.5772/intechopen.71732 ER -
@inbook{ author = "Todić, Ivana and Kuzmanović, Vladimir", year = "2018", abstract = "Inertial navigation systems are in common use for decades due to its advantages. Since INS outputs are usually used for inputs in different control algorithms (depending on applications), INS will induce certain errors and limitations. This chapter deals with optimization of the inertial navigation algorithm against limitations due to the accuracy and stability of signals from the sensors and constraints resulting from the integration step and processor speed used for embedded applications. Inertial navigation considered here is “strapdown” inertial navigation system (SINS) which assumes a fixed inertial measurement unit (IMU). In this chapter, fundamentals of strapdown inertial navigation will be presented as well as three different algorithms which will be analyzed in regard to numerical stability, time consumption and processor load criteria.", publisher = "IntechOpen", journal = "Space Flight", booktitle = "Code Optimization for Strapdown Inertial Navigation System Algorithm", pages = "78-59", doi = "10.5772/intechopen.71732" }
Todić, I.,& Kuzmanović, V.. (2018). Code Optimization for Strapdown Inertial Navigation System Algorithm. in Space Flight IntechOpen., 59-78. https://doi.org/10.5772/intechopen.71732
Todić I, Kuzmanović V. Code Optimization for Strapdown Inertial Navigation System Algorithm. in Space Flight. 2018;:59-78. doi:10.5772/intechopen.71732 .
Todić, Ivana, Kuzmanović, Vladimir, "Code Optimization for Strapdown Inertial Navigation System Algorithm" in Space Flight (2018):59-78, https://doi.org/10.5772/intechopen.71732 . .