An Accurate Numerical Algorithm for Attitude Updating Based on High-Order Polynomial Iteration
To effectively improve the accuracy of attitude reconstruction under highly dynamic environments, a new numerical attitude updating algorithm is designed in this paper based on the high-order polynomial iteration according to the differential equation for quaternion. In this algorithm, a high-order...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8758805/ |
| _version_ | 1818566001150656512 |
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| author | Xixiang Liu Xiaole Guo Wenqiang Yang Yixiao Wang Wei Chen Peijuan Li Tiezheng Guo |
| author_facet | Xixiang Liu Xiaole Guo Wenqiang Yang Yixiao Wang Wei Chen Peijuan Li Tiezheng Guo |
| author_sort | Xixiang Liu |
| collection | DOAJ |
| description | To effectively improve the accuracy of attitude reconstruction under highly dynamic environments, a new numerical attitude updating algorithm is designed in this paper based on the high-order polynomial iteration according to the differential equation for quaternion. In this algorithm, a high-order polynomial is introduced to fit the angular rate accurately without increasing the number of gyro outputs during per attitude updating interval. This algorithm can provide an exact high-order polynomial solution for quaternion and the process of attitude reconstruction can be implemented efficiently. The algorithm's performance is evaluated as compared with optimal coning algorithm, attitude quaternion updating algorithm based on Picard iteration (QPI), and higher-order rotation vector attitude updating algorithm (Fourth4Rot) under coning motion. The simulation results show that this algorithm can improve the accuracy of attitude computation and clearly outperform the optimal coning algorithm, QPI, and Fourth4Rot in high dynamic environment. |
| first_indexed | 2024-12-14T01:48:06Z |
| format | Article |
| id | doaj.art-eb3ec8dea4fb45ca8f044e4e17865fc9 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-14T01:48:06Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-eb3ec8dea4fb45ca8f044e4e17865fc92022-12-21T23:21:28ZengIEEEIEEE Access2169-35362019-01-017958929590210.1109/ACCESS.2019.29278808758805An Accurate Numerical Algorithm for Attitude Updating Based on High-Order Polynomial IterationXixiang Liu0https://orcid.org/0000-0001-6847-1405Xiaole Guo1Wenqiang Yang2Yixiao Wang3Wei Chen4Peijuan Li5Tiezheng Guo6School of Instrument Science and Engineering, Southeast University, Nanjing, ChinaSchool of Instrument Science and Engineering, Southeast University, Nanjing, ChinaSchool of Instrument Science and Engineering, Southeast University, Nanjing, ChinaSchool of Instrument Science and Engineering, Southeast University, Nanjing, ChinaSchool of Innovation and Entrepreneurship, Nanjing Institute of Technology, Nanjing, ChinaSchool of Innovation and Entrepreneurship, Nanjing Institute of Technology, Nanjing, ChinaSchool of Innovation and Entrepreneurship, Nanjing Institute of Technology, Nanjing, ChinaTo effectively improve the accuracy of attitude reconstruction under highly dynamic environments, a new numerical attitude updating algorithm is designed in this paper based on the high-order polynomial iteration according to the differential equation for quaternion. In this algorithm, a high-order polynomial is introduced to fit the angular rate accurately without increasing the number of gyro outputs during per attitude updating interval. This algorithm can provide an exact high-order polynomial solution for quaternion and the process of attitude reconstruction can be implemented efficiently. The algorithm's performance is evaluated as compared with optimal coning algorithm, attitude quaternion updating algorithm based on Picard iteration (QPI), and higher-order rotation vector attitude updating algorithm (Fourth4Rot) under coning motion. The simulation results show that this algorithm can improve the accuracy of attitude computation and clearly outperform the optimal coning algorithm, QPI, and Fourth4Rot in high dynamic environment.https://ieeexplore.ieee.org/document/8758805/Attitude updating algorithmquaternionhigh-order polynomialpolynomial iteration |
| spellingShingle | Xixiang Liu Xiaole Guo Wenqiang Yang Yixiao Wang Wei Chen Peijuan Li Tiezheng Guo An Accurate Numerical Algorithm for Attitude Updating Based on High-Order Polynomial Iteration IEEE Access Attitude updating algorithm quaternion high-order polynomial polynomial iteration |
| title | An Accurate Numerical Algorithm for Attitude Updating Based on High-Order Polynomial Iteration |
| title_full | An Accurate Numerical Algorithm for Attitude Updating Based on High-Order Polynomial Iteration |
| title_fullStr | An Accurate Numerical Algorithm for Attitude Updating Based on High-Order Polynomial Iteration |
| title_full_unstemmed | An Accurate Numerical Algorithm for Attitude Updating Based on High-Order Polynomial Iteration |
| title_short | An Accurate Numerical Algorithm for Attitude Updating Based on High-Order Polynomial Iteration |
| title_sort | accurate numerical algorithm for attitude updating based on high order polynomial iteration |
| topic | Attitude updating algorithm quaternion high-order polynomial polynomial iteration |
| url | https://ieeexplore.ieee.org/document/8758805/ |
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