A Trident Quaternion Framework for Inertial-Based Navigation Part I: Rigid Motion Representation and Computation

Strapdown inertial navigation research involves the parameterization and computation of attitude, velocity, position a rigid body in chosen reference frame. The community has long devoted to finding most concise efficient representation for strapdown system (INS). current work is motivated by simplifying existing dual quaternion kinematic model. This article proposes compact elegant body's attitude/velocity/position, with aid devised trident tool, which an extension quaternions. And accounted adding second part quaternion. Eventually, kinematics INS are cohesively unified one differential equation, bears same form as classical attitude equation. In addition, numerical solution this quaternion-based equation dealt recently proposed functional iterative integration approach. Numerical results provided verify analysis. new not only provides navigation, but gives birth precision algorithm.