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A New Technique for INS/GNSS Attitude and Parameter Estimation Using Online Optimization.
- Source :
-
IEEE Transactions on Signal Processing . May2014, Vol. 62 Issue 10, p2642-2655. 14p. - Publication Year :
- 2014
-
Abstract
- Integration of inertial navigation system (INS) and global navigation satellite system (GNSS) is usually implemented in engineering applications by way of Kalman-like filtering. This form of INS/GNSS integration is prone to attitude initialization failure, especially when the host vehicle is moving freely. This paper proposes an online constrained-optimization method to simultaneously estimate the attitude and other related parameters including GNSS antenna's lever arm and inertial sensor biases. This new technique benefits from self-initialization in which no prior attitude or sensor measurement noise information is required. Numerical results are reported to validate its effectiveness and prospect in high accurate INS/GNSS applications. [ABSTRACT FROM PUBLISHER]
Details
- Language :
- English
- ISSN :
- 1053587X
- Volume :
- 62
- Issue :
- 10
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Signal Processing
- Publication Type :
- Academic Journal
- Accession number :
- 95801778
- Full Text :
- https://doi.org/10.1109/TSP.2014.2312317