Analysis Strapdown Navigation Using Quaternions

Bernard Friedland

Research output: Contribution to journalArticlepeer-review

71 Scopus citations


A brief review of the theory of strapdown inertial navigation is presented in which the attitude of the sensor box with respect to inertial space is represented by the four-parameter quaternion vector. A 4×4 matrix R is defined which aids in relating quaternions to direction cosines and facilitates interpretation of the equations for error propagation, which are also derived. In the interpretation, it is shown that the error in the quaternion vector causes a (correctable) scale factor error and an equivalent tilt vector error that propagates the same way as the platform tilt vector in a gimbaled system.

Original languageEnglish (US)
Pages (from-to)764-768
Number of pages5
JournalIEEE Transactions on Aerospace and Electronic Systems
Issue number5
StatePublished - Sep 1978
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Electrical and Electronic Engineering


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