ERROR ANALYSIS OF QUATERNION TRANSFORMATIONS

Title:	ERROR ANALYSIS OF QUATERNION TRANSFORMATIONS
Authors:	YEON, FJ YU, PL 電控工程研究所 Institute of Electrical and Control Engineering
Issue Date:	1-Jul-1991
Abstract:	Three transformation formulas are derived that related the quaternions to the direction cosine matrix used in strapdown inertial systems. Transformation errors associated with these formulas are fully analyzed. The drift errors evaluated under constant angular velocity have been shown to vary slightly among three different transformations. It is shown that the skew errors in three transformation schemes are not all intrinsically zero. Yet the scale errors may differ largely by two orders of magnitude among transformation schemes. This may become a selection criteria for selection of attitude transformation schemes.
URI:	http://dx.doi.org/10.1109/7.85036 http://hdl.handle.net/11536/3743
ISSN:	0018-9251
DOI:	10.1109/7.85036
Journal:	IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
Volume:	27
Issue:	4
Begin Page:	634
End Page:	639
Appears in Collections:	Articles

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