Experimental Results of Attitude Determination Functional Algorithms Implementation in Strapdown Inertial Navigation System

Strapdown inertial navigation system (SINS) software developers are usually mainly focused on the attitude determination algorithm design and characteristics. Such an algorithm can be based on different mathematical apparatus. An approach to the derivation of attitude determination algorithm equations in strapdown inertial navigation system is proposed. This algorithm is based on direct heading, pitch, and roll calculation. The qualitative differences between the proposed algorithm and the one using a transformation matrix are noted. The main objective of the paper is direct attitude angles calculation algorithm application possibilities analysis in real SINS operating conditions. The analysis is based on a comparison of the proposed algorithm with another frequently used attitude determination algorithm based on the transformation matrix. Attitude determination algorithms performance investigation results based on car and helicopter experimental tests are presented.