Semi-Analytic Method for SINS Attitude and Parameters Online Estimation
This work addresses incremental improvements in navigation accuracy for systems using inertial sensors, with domain-specific applications.
The paper tackles the problem of estimating attitude and inertial sensor drift biases in strapdown inertial navigation systems by proposing a semi-analytic method with two interlaced procedures, achieving online estimation through attitude estimation and optimization.
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.