A New Technique for INS/GNSS Attitude and Parameter Estimation Using Online Optimization

DOI10.1109/TSP.2014.2312317zbMATH Open1394.94639MaRDI 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)

Full work available at URL https://arxiv.org/abs/1403.2174

Applications of mathematical programming (90C90) Signal theory (characterization, reconstruction, filtering, etc.) (94A12)

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.

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