Lightweight Precision Inertial Computation based on Chebyshev Polynomial Optimization

The strapdown inertial navigation system (INS) is to provide attitude, velocity and position information by integrating inertial measurements from gyroscopes and accelerometers. The advances in the ultrahigh precision gyroscopes and high dynamic applications demand for more accurate inertial navigation computation. This paper proposes a lightweight but precision inertial navigation computation algorithm based on the Chebyshev polynomial optimization. Specifically, the attitude, velocity and position are approximated by Chebyshev polynomials and the INS computation task is transformed into problem of polynomial coefficients optimization. Numerical results show that the derived polynomial optimization-based algorithm achieves precision and lightweight inertial navigation computation, that is to say, not only reducing the motion noncommutativity error to the machine precision level but possessing much improved computational efficiency against the state of the art.