Analytical Solutions in the Darboux Problem and the Bortz Equation and the Approach to Orientation Algorithms Based on Themстатья
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Дата последнего поиска статьи во внешних источниках: 9 апреля 2021 г.
Аннотация:We consider the problem of determining the angular position of a rigid body in space fromits known angular velocity and initial position (the Darboux problem) in the quaternion setting. Basedon the exact solution of the Bortz approximate differential equation with respect to the orientationvector of the rigid body, we analytically solve the problem to determine the quaternion of the orientationof the rigid body for each arbitrary angular velocity and small rotation angle of the rigid body.Based on this solution, we propose an approach to design a new algorithm to compute the orientationof moving objects by means of strap-down inertial navigation systems.