The Comparison of Quaternion Integration Algorithms

Min-I James Chang

Abstract:	This paper compares the accuracy of quatemion integration algorithms for attitude determination of a strapdown inertial navigation system. The accuracy, computation burden and normalization error are used to evaluate the algorithm performance. Quatemion update rate of 100 Hz is used for the accuracy evaluation. The coming motion with 5 degree half angle and 4 Hz spin frequency is used to evaluate the accuracy of quatemion integration algorithms. Three more efficiency quatemion product algorithms are also evaluated.
Published in:	Proceedings of the 1997 National Technical Meeting of The Institute of Navigation January 14 - 16, 1997 Loews Santa Monica Hotel Santa Monica, CA
Pages:	999 - 1003
Cite this article:	Chang, Min-I James, "The Comparison of Quaternion Integration Algorithms," Proceedings of the 1997 National Technical Meeting of The Institute of Navigation, Santa Monica, CA, January 1997, pp. 999-1003.
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