Semi-Analytic Method for SINS Attitude and Parameters Online Estimation
Lubin Chang
TL;DR
This paper introduces a semi-analytic approach for online estimation of attitude and sensor biases in strapdown inertial navigation systems, combining attitude estimation and optimization to improve accuracy.
Contribution
It presents a novel semi-analytic method that interlaces attitude estimation with online optimization for sensor bias correction in SINS.
Findings
Effective estimation of attitude and sensor biases demonstrated.
Improved navigation accuracy through combined estimation approach.
Real-time applicability shown for SINS bias correction.
Abstract
In this note, the attitude and inertial sensors drift biases estimation for Strapdown inertial navigation system is investigated. A semi-analytic method is proposed, which contains two interlaced solution procedures. Specifically, the attitude encoding the body frame changes and gyroscopes drift biases are estimated through attitude estimation while the attitude encoding the constant value at the very start and accelerometers drift biases are determined through online optimization.
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Taxonomy
TopicsInertial Sensor and Navigation · Target Tracking and Data Fusion in Sensor Networks · Astronomical Observations and Instrumentation