Читать книгу Global Navigation Satellite Systems, Inertial Navigation, and Integration - Mohinder S. Grewal - Страница 132

An incremental rotation vector from the Bortz coning correction implementation of Eq. (3.28) can be converted to an equivalent incremental quaternion by the operations

(3.29)

(3.30)

(3.31)

Quaternion implementation of attitude integration

 If is the quaternion representing the prior value of attitude,

  is the quaternion representing the change in attitude, and

  is the quaternion representing the updated value of attitude,

then the update equation for quaternion representation of attitude is

(3.32)

here “ represents quaternion multiplication (defined in Appendix B) and the superscript represents the conjugate of a quaternion,

(3.33)