Inertial navigation system positioning error analysis and Cramér-Rao lower bound

  title={Inertial navigation system positioning error analysis and Cram{\'e}r-Rao lower bound},
  author={Kai Wen and C. K. Seow and S. Y. Tan},
  journal={2016 IEEE/ION Position, Location and Navigation Symposium (PLANS)},
Self-contained inertial navigation system (INS) has generated enough attention inside indoor positioning and navigation sector in recent years. However stand-alone low-cost INS suffers severe position drift after using for a short period of time due to the noises in both gyroscope and accelerometer. This paper presents the theoretical analysis of INS's position root mean squared error (RMSE) caused by white Gaussian noise within body frame sensors. Standard deviations of Gaussian noise in tri… CONTINUE READING


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