지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 2,093 - 2,096 (4page)
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초록· 키워드
오류제보하기
Light overloaded small aircraft, such as ducted fan MAV, could use accelerometer and magnetometer to measure acceleration and earth magnetic field in the body coordinate frame. There is a quaternion that relates the measured accelerations and earth magnetic field in the body coordinate frame to calculated values in the earth coordinate frame. An overdetermined nonlinear equations which could get the quaternion need to be solved. So far, the Gauss-Newton iteration algorithm was being used most commonly to solve the overdetermined equations. However, when the inverse of Jacobian matrix is singular or conditioned, the iteration would be diverge. To overcome the problem, first, transferring the overdetermined problem to determined one by a premultiply transposition of Jacobian matrix, then using Correctional Newton with Parameter iteration algorithm to solve the determined equations. Compared to Gauss-Newton iteration algorithm, this method not only could converge more fast, but also could overcome the situation which Jacobian matrix is singular or conditioned.
목차
Abstract
1. INTRODUCTION
2. QUATERNION
3. SET UP PROCESS MODEL
4. CORRECTIONAL NEWTON WITH PARA METER ITERATION ALGORITHM
5. SIMULATION AND EXPERIMENTAL RESULTS
6. CONCLUSIONS
REFERENCES
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