A New Technique for INS/GNSS Attitude and Parameter Estimation Using Online Optimization
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...
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| Veröffentlicht in: | IEEE transactions on signal processing 2014-05, Vol.62 (10), p.2642-2655 |
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| container_title | IEEE transactions on signal processing |
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| creator | Wu, Yuanxin Wang, Jinling Hu, Dewen |
| description | 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. |
| doi_str_mv | 10.1109/TSP.2014.2312317 |
| format | Article |
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Numerical results are reported to validate its effectiveness and prospect in high accurate INS/GNSS applications.</description><subject>Antennas</subject><subject>Applied sciences</subject><subject>Detection, estimation, filtering, equalization, prediction</subject><subject>Earth</subject><subject>Educational institutions</subject><subject>Exact sciences and technology</subject><subject>Failure</subject><subject>Filtering</subject><subject>Global navigation satellite system</subject><subject>Global Positioning System</subject><subject>GNSS</subject><subject>Inertial navigation</subject><subject>Information, signal and communications theory</subject><subject>Kalman filters</subject><subject>lever arm</subject><subject>Mathematical models</subject><subject>Online</subject><subject>online optimization</subject><subject>Optimization</subject><subject>satellite navigation</subject><subject>Sensors</subject><subject>Signal and communications theory</subject><subject>Signal, noise</subject><subject>Telecommunications and information theory</subject><subject>velocity integration formula</subject><issn>1053-587X</issn><issn>1941-0476</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2014</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpdkN9LwzAQgIsoqNN3wZeACL505po0aR_HmD9ANqETfAtZetVIl86kQ_SvN3NjD0Lgwt13x92XJBdAhwC0vJ1Xz8OMAh9mDOKTB8kJlBxSyqU4jH-aszQv5OtxchrCB40kL8VJ8joiU_wiczTvzn6ukTSdJ4_T6vZ-WlVk1Pe2X9dItKvJs_Z6iT16Mgm9Xeredo68BOveyMy11iGZrWLe_vxVzpKjRrcBz3dxkFR3k_n4IX2a3T-OR0-p4RT6NNcLXSOUpmEFr0W9AFPIhagbbQTqQmNTL2SOIDXlmQHJ6pxJUZSykSg1GyQ326kr38XtQ6-WNhhsW-2wWwcFIjqhlOVFRK_-oR_d2ru4m4JccMEyyTcU3VLGdyF4bNTKx1v9twKqNqJVFK02otVOdGy53g3Wwei28doZG_Z9WSEoB1ZG7nLLWUTcl4WUvISc_QLyp4YS</recordid><startdate>20140515</startdate><enddate>20140515</enddate><creator>Wu, Yuanxin</creator><creator>Wang, Jinling</creator><creator>Hu, Dewen</creator><general>IEEE</general><general>Institute of Electrical and Electronics Engineers</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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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><cop>New York, NY</cop><pub>IEEE</pub><doi>10.1109/TSP.2014.2312317</doi><tpages>14</tpages></addata></record> |
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| subjects | Antennas Applied sciences Detection, estimation, filtering, equalization, prediction Earth Educational institutions Exact sciences and technology Failure Filtering Global navigation satellite system Global Positioning System GNSS Inertial navigation Information, signal and communications theory Kalman filters lever arm Mathematical models Online online optimization Optimization satellite navigation Sensors Signal and communications theory Signal, noise Telecommunications and information theory velocity integration formula |
| title | A New Technique for INS/GNSS Attitude and Parameter Estimation Using Online Optimization |
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