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In order to improve the precision of the strapdown inertial navigation algorithm based on dual quaternion in the high dynamic environment, a trapezoid digital integral algorithm is applied to compen­sate the coning and sculling errors, which optimizes the attitude and velocity calculating algorithm and improves the calculating precision of the strapdown inertial navigation algorithm. During a sampling period of gyroscope and accelerometer, the angular rates of gyroscope outputs at previous and current times are both integrated by using the trapezoid digital integral algorithm, and the integral angle increment is used for the coning error compensation. The accelerometer outputs at previous and current times are integated by using the trapezoid digital integral algorithm, and the integral velocity increment and the integral angular increment are used for the sculling error compensation. Through the simulation of multi-group dynamic tracks, it is shown that the improved coning and sculling error compensation algorithms adopting the trapezoid digital integration have higher navigation precision than the traditional rectangular digital in­tegration method when the inputs are angular rate and acceleration. The dynamics of the track is higher, and the performance advantage of the improved algorithm is more obvious. The analysis and comparison of kinematic vehicle experimental results further verify the performance advantage of the proposed improved algorithm. [ABSTRACT FROM AUTHOR]

Both traditional and dual quaternion-based velocity update algorithms for strapdown inertial navigation system (SINS) are comparatively studied. The leading cause of difference in accuracy between the two algorithms is analyzed and determined in principle. By defining both truncation and approximate integral errors, the difference in accuracy can be not only described qualitatively but also computed quantitatively. The validity of theoretical analysis and derivation is verified through simulation testing. The significant superiority of the dual quaternion algorithm over the traditional one in accuracy is demonstrated through simulation results under highly-dynamic and large-maneuver conditions. Comparison results under both ideal and real dynamic conditions show that the dual quaternion algorithm is superior to the traditional one in overall performance. [ABSTRACT FROM AUTHOR]