2 papers
cs.RO2021
A Trident Quaternion Framework for Inertial-based Navigation Part I: Rigid Motion Representation and Computation
Wei Ouyang, Yuanxin Wu
Strapdown inertial navigation research involves the parameterization and computation of the attitude, velocity and position of a rigid body in a chosen reference frame. The communi…
cs.RO2021
A Trident Quaternion Framework for Inertial-based Navigation Part II: Error Models and Application to Initial Alignment
Wei Ouyang, Yuanxin Wu
This work deals with error models for trident quaternion framework proposed in the companion paper (Part I) and further uses them to investigate the odometer-aided static/in-motion…