Abstract:

The original dual quaternion navigation algorithm includes many complex operations and requires much more throughput. Moreover, dual quaternion navigation is lack of corresponding aligning algorithm so far. Therefore a simplification and aligning strategy are proposed for the dual quaternion navigation. Considering the velocity and position vectors is much complicated to extract, a straightforward solution is successfully achieved by the study of dualquaternion algebra. Simulation results display the simplified method reaches the same precision as the original one, while the operations cut down remarkably. Furthermore, the initial condition for the navigation method is studied to design an aligning scheme for dual quaternion navigation. As a result, an aligning strategy is proposed based on traditional strap down aligning technique. Simulation results reveal that the position error only 1.5 m for 300 s navigation after alignment, that is, the aligning strategy successful. Moreover, the deduction of the simplified algorithm unveils the dual quaternion algorithm’s physical hypostasis, which would provide an academic reference for relevant research.