Performance Analysis of Strapdown Inertial Navigation Algorithms

Document Type : Original Article

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Abstract

ABSTRACT
In this work the theory of strapdown inertial navigation is introduced. The strapdown
inertial navigation algorithms using Euler angles, direction cosines, and quaternions
methods are derived. Reference flow charts of strapdown INS algorithms for attitude
calculation based on Euler angles, direction cosines, and quaternions methods are
derived.Simulation examples applied on the navigation of Aerosonde UAV.
Simulation results are analyzed to explore the differences between the different
algorithms to conclude the most reliable algorithm of strapdown inertial navigation
algorithms.

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