A New Technique for INS/GNSS Attitude and Parameter Estimation Using Online Optimization
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Publication:4579205
DOI10.1109/TSP.2014.2312317zbMATH Open1394.94639arXiv1403.2174MaRDI QIDQ4579205FDOQ4579205
Authors: Yuanxin Wu, Jinling Wang, Dewen Hu 
Publication date: 22 August 2018
Published in: IEEE Transactions on Signal Processing (Search for Journal in Brave)
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.
Full work available at URL: https://arxiv.org/abs/1403.2174
Applications of mathematical programming (90C90) Signal theory (characterization, reconstruction, filtering, etc.) (94A12)
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