【摘 要】
：
This paper presents the strapdown inertial navigation algorithm design by using the matrix Lie group SE(3) and its Lie algebra se(3).The direction cosine matrix
【出 处】
：
2014中国制导、导航与控制学术会议
论文部分内容阅读
This paper presents the strapdown inertial navigation algorithm design by using the matrix Lie group SE(3) and its Lie algebra se(3).The direction cosine matrix and translation of the vehicle are described by a group element as a 4×4 matrix.The navigation differential equations are given by three group rate equations of the same form.By taking the identity of the exponential map,the group equations are pulled back to the linear Lie algebra space.A new numerical integration is developed to solve the equations in Lie algebra,and then map them to update the group elements.The overall process is taking a geometric description,avoiding the complicate analysis of kinematics.A variety of simulations are conducted,the results show that the new algorithm improves the accuracy.
其他文献
Mathematical model for radar detecting of the ground-to air missile defense system is established by taking UAV coordinated formation-to-the ground penetration.
Thomas Hardy, noted as a pessimistic writer, depicts his pessimistic veins in many of his books. In this paper, the author argues that in his famous Far from th
The paper studies the aircraft flight path planning problem of uncertain battlefield environment,proposing a military aircraft flight path planning method based
The parameter identification algorithm was considered in this paper for the simplified nonlinear mathematic model of unmanned four-rotor helicopter.The mathemat
秋冬季节交替的时候正是各种问题困扰的时候。秋膘被不知不觉地贴上身;头发如落叶般簌簌地往下掉;皮肤又干又痒,怎么给脸上拍保湿水也解决不了干燥问题;还有心情,总是像阴天
在美国,堕胎合法化以后女性妊娠疾病发病率持续上升;在中国,每年由于人工流产所导致的各种并发症严重威胁年轻女性的健康。对于人工流产,无论医生还是患者,都应该慎之又慎。
In order to study the solvability on a new system of nonlinear variational inclusions in Hilbert Spaces,the operators involving three classes s of (K,η) are pr
PID controller is used in most of the course-keeping closed-loop control of Unmanned Surface Vehicle (USV).However,the parameters of PID are difficult to tuning
走出对性梦评价的误区尽管现在的人已经脱离了对性三缄其口的愚昧年代。但迄今为止,仍有不少人把梦与现实相混淆,以性梦为耻,总处在不断的自责与悔恨之中,严重影响到自己正常
2.1946年到现在 从1948年歧阜的忠节桥(平衡桁肋系杆拱)开始建设长大跨度桥梁。1954年出现了也使拱肋承受弯曲的加劲拱,如罗杰氏梁的形式。1965年将刚性梁柔性拱的吊杆做成