Research on the SINS Algorithm Based on Spiral Vector

Abstract

Targeting at the independent compensation characteristics of cone motion effect and sculling motion effect in traditional SINS Algorithm, this article studies the SINS Algorithm based on spiral vector which enables the cone motion effect and sculling motion effect to compensate at the same time, so as to realize the high precision calculating of attitude Angle and velocity vector. This paper analyzes the mathematical relationships between spiral vector and position-attitude dual quaternion, and then deduces the spiral vector differential equation in detail, which leads to the SINS Algorithm orchestration based on the spiral vector. Finally, considering the real application environment, the actual tests have shown that under the same conditions the spiral vector algorithm of SINS is more precise than the traditional algorithm in high dynamic environment and that the high sub-sample precision is higher than the low sub-sample.