1、IEEE Std 1559-2009IEEE Standard for Inertial SystemsTerminologyIEEE3ParkAvenueNew York, NY 10016-5997, USA26 August 2009IEEE Aerospace and Electronics Systems SocietySponsored by theGyro and Accelerometer Panel1559TMIEEE Std 1559-2009 IEEE Standard for Inertial Systems Terminology Sponsor Gyro and A
2、ccelerometer Panel of the IEEE Aerospace and Electronics Systems Society Approved 17 June 2009 IEEE-SA Standards Board Abstract: Terms and definitions relating to aided and unaided inertial systems for navigation, guidance, orientation, stabilization, and related applications are presented. Usage as
3、 understood by the inertial systems community is given preference over general technical usage of the terms herein. The criterion for inclusion of a term and its definition in this document is usefulness as related to inertial systems technology. Keywords: inertial systems technology, inertial syste
4、ms terminology The Institute of Electrical and Electronics Engineers, Inc. 3 Park Avenue, New York, NY 10016-5997, USA Copyright 2009 by the Institute of Electrical and Electronics Engineers, Inc. All rights reserved. Published 26 August 2009. Printed in the United States of America. IEEE is a regis
5、tered trademark in the U.S. Patent +1 978 750 8400. Permission to photocopy portions of any individual standard for educational classroom use can also be obtained through the Copyright Clearance Center. iv Copyright 2009 IEEE. All rights reserved. Introduction This introduction is not part of IEEE S
6、td 1559-2009, IEEE Standard for Inertial Systems Terminology. This standard is a listing of terms and definitions used in the development, manufacture, test, and use of aided and unaided inertial systems for navigation, guidance, orientation, stabilization, and related applications. Usage as underst
7、ood by the inertial systems community is given preference over general technical usage of the terms herein. The criterion for inclusion of terms and definitions in this standard is their general usefulness as related to aided and unaided inertial systems technology. This standard is a companion to I
8、EEE Std 528, IEEE Standard for Inertial Sensor Terminology.a,bRadio navigation terms are listed insofar as they pertain to aiding inertial navigation systems. However, an exhaustive list of radio navigation terminology is not given. In this standard, the symbol g is used to denote a unit of accelera
9、tion equal in magnitude to the local value of gravity at a test site or the standard value 9.80665 m/s2. The symbol g is thus distinguished from g, which is the standard symbol for gram. Abbreviations and acronyms are listed alphabetically in the body of the text, with a reference to the spelled-out
10、 term in the text for the full definition. For the purposes of this standard, an acronym (such as AHRS and ISA) is pronounced as a word, whereas, each letter of an abbreviation (such as GPS and INS) is pronounced. Abbreviations and acronyms are frequently used in definitions of other terms. This sta
11、ndard represents a consensus of manufacturers and users in industry, government agencies, and other interested groups. When necessary, the needs of the inertial systems community have been given preference over general technical usage. In general, definitions that might be found in a standard textbo
12、ok have not been included, such as “orthogonality.” All definitions contained herein are based on a right-handed coordinate system. Notice to users Laws and regulations Users of these documents should consult all applicable laws and regulations. Compliance with the provisions of this standard does n
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20、dards can be accessed at the following URL: http:/standards.ieee.org/reading/ieee/updates/errata/index.html. Users are encouraged to check this URL for errata periodically. Interpretations Current interpretations can be accessed at the following URL: http:/standards.ieee.org/reading/ieee/interp/ ind
21、ex.html. Patents Attention is called to the possibility that implementation of this standard may require use of subject matter covered by patent rights. By publication of this standard, no position is taken with respect to the existence or validity of any patent rights in connection therewith. The I
22、EEE is not responsible for identifying Essential Patent Claims for which a license may be required, for conducting inquiries into the legal validity or scope of Patents Claims or determining whether any licensing terms or conditions provided in connection with submission of a Letter of Assurance, if
23、 any, or in any licensing agreements are reasonable or non-discriminatory. Users of this standard are expressly advised that determination of the validity of any patent rights, and the risk of infringement of such rights, is entirely their own responsibility. Further information may be obtained from
24、 the IEEE Standards Association. vi Copyright 2009 IEEE. All rights reserved. Participants This standard represents a large-scale group effort. A total of 135 individuals attended 43 meetings of the Gyro and Accelerometer Panel during preparation of this standard. At the time this standard was submi
25、tted to the IEEE-SA Standards Board for approval, the Gyro and Accelerometer Panel had the following membership: Randall Curey, Chair Reese Sturdevant, Vice Chair Michael Ash Cleon Barker Sid Bennett* Timothy Buck Herbert Califano George Erickson Jim Fakatselis Yuri Filatov Kerry Green Howard Havlic
26、sek Aki Hirobe Tommy Ichinose Jean-Franois Kieffer Bryan Lovitt Dmitri Loukianov Jean Martel Robert Martinez Bob Moore Bart Morrow Charles Pearce Rex Peters* David Tarrant Daniel Tazartes Leroy Thielman Angelo Truncale Dean Wiberg Dave Winkel Bruce Youmans *Past Chair The following members of the in
27、dividual balloting committee voted on this standard. Balloters may have voted for approval, disapproval, or abstention. Cleon Barker Danila Chernetsov Keith Chow Randall Curey George Erickson Werner Hoelzl Jean-Franois Kieffer Robert Martinez Michael S. Newman Ulrich Pohl Bartien Sayogo Gil Shultz W
28、alter Struppler Daniel Tazartes Leroy Thielman Bruce Youmans Oren Yuen vii Copyright 2009 IEEE. All rights reserved. When the IEEE-SA Standards Board approved this standard on 17 June 2009, it had the following membership: Robert M. Grow, Chair Thomas Prevost, Vice Chair Steve M. Mills, Past Chair J
29、udith Gorman, Secretary John Barr Karen Bartleson Victor Berman Ted Burse Richard DeBlasio Andy Drozd Mark Epstein Alexander Gelman Jim Hughes Rich Hulett Young Kyun Kim Joseph L. Koepfinger* John Kulick David Law Ted Olsen Glenn Parsons Ron Petersen Narayanan Ramachandran Jon Rosdahl Sam Sciacca *M
30、ember Emeritus Also included are the following nonvoting IEEE-SA Standards Board liaisons: Howard Wolfman, TAB Representative Michael Janezic, NIST Representative Satish Aggarwal, NRC Representative Don Messina IEEE Standards Program Manager, Document Development Soo Kim IEEE Standards Program Manag
31、er, Technical Program Development viii Copyright 2009 IEEE. All rights reserved. Contents 1. Overview 1 1.1 Scope . 1 1.2 Purpose 1 1.3 Related standard 2 2. Definitions 2 Annex A (informative) Quaternion properties and math 29 A.1 Notation 29 A.2 Interpretation of a quaternion representation of rot
32、ation 29 A.3 Transformation of a vector through a rotation quaternion 29 A.4 Rotation quaternion differential equation . 29 A.5 Quaternion algebra 29 1 Copyright 2009 IEEE. All rights reserved. IEEE Standard for Inertial Systems Terminology IMPORTANT NOTICE: This standard is not intended to ensure s
33、afety, security, health, or environmental protection in all circumstances. Implementers of the standard are responsible for determining appropriate safety, security, environmental, and health practices or regulatory requirements. This IEEE document is made available for use subject to important noti
34、ces and legal disclaimers. These notices and disclaimers appear in all publications containing this document and may be found under the heading “Important Notice” or “Important Notices and Disclaimers Concerning IEEE Documents.” They can also be obtained on request from IEEE or viewed at http:/stand
35、ards.ieee.org/IPR/disclaimers.html. 1. Overview 1.1 Scope This standard provides a source of definitions of terminology used in the development, manufacture, and test of aided and unaided inertial systems used for navigation, guidance, orientation, stabilization, and related applications. This is a
36、companion document to IEEE Std 528.1,21.2 Purpose There is no consistent definition of terms that have arisen in the evolution of aided and unaided inertial navigation and related systems. This standard is intended to serve as a basic reference for producers and users of such systems, for preparing
37、industry standards, and for the interpretation of published technical reports. 1IEEE publications are available from the Institute of Electrical and Electronics Engineers, 445 Hoes Lane, Piscataway, NJ 08854, USA (http:/standards.ieee.org/). 2The IEEE standard or product referred to in the Scope is
38、a trademark owned by the Institute of Electrical and Electronics Engineers, Incorporated. IEEE Std 1559-2009 IEEE Standard for Inertial Systems Terminology 2 Copyright 2009 IEEE. All rights reserved. 1.3 Related standard Only inertial system related terms are given in this standard. Inertial sensor
39、terms are covered in IEEE Std 528, IEEE Standard for Inertial Sensor Terminology. 2. Definitions 2.1 acceleration: The time rate of change of an objects velocity. Acceleration is the sum of gravitational acceleration and nongravitational acceleration. NOTEIn order to denote angular acceleration, the
40、 qualifying word “angular” must be used.32.2 AHRS: An acronym for attitude and heading reference system. 2.3 aiding: The use of noninertial information to control the unbounded growth of inertial navigation errors. NOTEAiding types include altimeters, depth meters, odometers, air speed indicators, r
41、adars, sonars, speed logs, terrain recognition, map matching, magnetometers, magnetic compasses, space- or terrestrial-based radio navigation systems, stellar aiding. 2.4 air speed: The speed, especially of an aircraft, relative to the air. 2.5 air speed indicator: A device that measures the air spe
42、ed of a vehicle. NOTEAn air speed indicator can be used for inertial system aiding. 2.6 alignment: The process of determining or controlling the orientation of the ISA relative to a reference frame. See: gyrocompass alignment; in-flight alignment; stored heading alignment; transfer alignment. 2.7 al
43、manac: Information transmitted by each GNSS satellite, which describes the orbits and state (health) of every satellite in the GNSS constellation. Almanac data facilitates the rapid acquisition of satellites after the GNSS receiver is turned on. NOTEAlmanac orbital data is less accurate than ephemer
44、is data, but remains valid for a longer period of time. 2.8 altimeter: An instrument that measures the altitude. There are two common types, as follows: a) Barometric altimeters, which typically measure relative to sea level b) Ranging altimeters, which measure relative to the local terrain NOTEAn a
45、ltimeter can be used for inertial system aiding. 2.9 altitude: The height of an object with respect to a reference level or point. NOTECommon reference levels include the geoid and the ellipsoid. 2.10 analytic platform frame: A rectangular coordinate system into which the ISA frame outputs are trans
46、formed. 3Notes in text, tables, and figures of a standard are given for information only and do not contain requirements needed to implement this standard. IEEE Std 1559-2009 IEEE Standard for Inertial Systems Terminology 3 Copyright 2009 IEEE. All rights reserved. NOTEThe analytic platform frame is
47、 the mathematical equivalent of the stabilized platform frame in a gimbaled IMU. 2.11 angular acceleration: The time rate of change of an objects angular velocity. 2.12 anti-spoofing (A-S): Use of encryption to prevent false GNSS transmissions from corrupting the true GNSS transmissions. 2.13 A-S: A
48、n abbreviation for anti-spoofing. 2.14 atomic clock: A clock that is slaved to the frequency provided by an atomic transition. NOTE 1The cesium atomic clock provides the fundamental definition of the SI second, with a present accuracy of a part in 1014. NOTE 2Atomic clocks are used to generate refer
49、ence time systems, such as UTC and navigation satellite time. 2.15 attitude: The orientation of a vehicle with respect to a reference frame. NOTEIn local level mechanizations attitude is usually expressed by roll, pitch, and yaw angles. 2.16 attitude and heading reference system (AHRS): An inertial system that estimates the attitude and heading of a vehicle. The attitude is with respect to the local level coordinate system. 2.17 attitude integration: The process of integrating gyroscope data in three dimensions to provide orientation of an ISA relati
