Improving Accuracy of the Vehicle Attitude Estimation for Low-Cost INS/GPS Integration Aided by the GPS-Measured Course Angle

@article{Wu2013ImprovingAO,
  title={Improving Accuracy of the Vehicle Attitude Estimation for Low-Cost INS/GPS Integration Aided by the GPS-Measured Course Angle},
  author={Zongwei Wu and Minli Yao and Hongguang Ma and Weimin Jia},
  journal={IEEE Transactions on Intelligent Transportation Systems},
  year={2013},
  volume={14},
  pages={553-564}
}
This paper presents a method using the Global Positioning System (GPS)-measured course angle to improve the accuracy of the vehicle attitude estimation for low-cost inertial navigation system/GPS (INS/GPS) integration. Observability properties of the error states in the low-cost integration navigation system are first analyzed, indicating that the attitude estimation is severely affected by vehicle maneuvers, particularly the yaw angle. The pitch and roll angles are strongly observed; hence… CONTINUE READING
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