Inertial-based navigation refers to the navigation methods or systems that have inertial information or sensors as the core part and integrated a spectrum of other kinds of sensors for enhanced performance. Through a series of papers, the authors attempt to explore information blending of inertial-based navigation by the polynomial optimization method. The basic idea is to model rigid motions as finite-order polynomials and then attack the involved navigation problems by optimally solving their coefficients, considering the constraints posed by inertial sensors and others. This article proposes a continuous-time attitude estimation approach, which transforms attitude estimation into a constant parameter determination problem by polynomial optimization. Specifically, the continuous attitude is first approximated by the Chebyshev polynomial, of which the unknown Chebyshev coefficients are determined by minimizing the weighted residuals of initial conditions, dynamics, and measurements. We apply the derived estimator to the attitude estimation with the magnetic and inertial sensors. Simulation and field tests show that the estimator has much better stability and faster convergence than that of the traditional extended Kalman filter, especially in challenging large initial state error scenarios.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Inertial-Based Navigation by Polynomial Optimization: Inertial-Magnetic Attitude Estimation


    Contributors:
    Zhu, Maoran (author) / Wu, Yuanxin (author)


    Publication date :

    2023-12-01


    Size :

    19218931 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Attitude algorithm for strap-down inertial navigation system

    Wei, L. / Xuhui, X. / Shengyi, L. | British Library Online Contents | 2005


    Inertial navigation device and inertial navigation method

    MORI DAIKI / HATTORI YOSHIKAZU / SUGIURA HIDEKI et al. | European Patent Office | 2022

    Free access

    INERTIAL NAVIGATION DEVICE AND INERTIAL NAVIGATION METHOD

    MORI DAIKI / HATTORI YOSHIKAZU / SUGIURA HIDEKI et al. | European Patent Office | 2020

    Free access

    Inertial Navigation

    Tazartes, Daniel A. / Kayton, Myron / Mark, John G. | Wiley | 1997


    Application of UAV Attitude Estimation Using a Low-Cost Inertial Navigation System

    K. W. Eure / C. C. Quach / S. L. Vazquez et al. | NTIS | 2013