Presents an innovative estimation scheme to solve the initial and divergent problems for an all-accelerometer inertial navigation system (INS). The proposed system uses six accelerometers mounted diagonally on each surface of a cubic. The system proposed herein exploits additional information involving the gravity effect, allowing us to determine the angular velocity. It also provides an upper bound value to initiate the platform attitude. In addition, an estimation algorithm using the own-ship trajectory estimator providing a measurement likelihood is proposed. A simulation case for estimating position and velocity of the vehicle is investigated by this approach. Results confirm the effectiveness of this information infusing concept in obtaining a convergent INS state estimation.
Innovative estimation method with measurement likelihood for all-accelerometer type inertial navigation system
IEEE Transactions on Aerospace and Electronic Systems ; 38 , 1 ; 339-346
2002-01-01
201379 byte
Article (Journal)
Electronic Resource
English