A Trident Quaternion Framework for Inertial-based Navigation Part II: Error Models and Application to Initial Alignment

This work deals with error models for trident quaternion framework proposed in the companion paper (Part I) and further uses them to investigate odometer-aided static/in-motion inertial navigation attitude alignment land vehicles. By linearizing kinematic equation, left right are obtained, which found be equivalent those derived from profound group affine. The two used design their corresponding extended Kalman filters (EKF), namely, left-quaternion EKF (LQEKF) right-quaternion (RQEKF). Simulations field tests conducted evaluate actual performances. Owing high estimation consistency, L/RQEKF converge much faster static than traditional model-based EKF, even under arbitrary large heading initialization. For in-motion alignment, possess larger convergence region does, although they still require aid of initialization so as avoid initial errors.