Observability Analysis for the INS Error Model with GPS / Uncalibrated Magnetometer Aiding


A stand-alone inertial navigation system (INS) yields time-diverging solutions due to errors in the inertial sensors, which can inhibit long term navigation. To circumvent this issue, a set of non-inertial sensors is used to limit these errors. The fusion between additional data and INS solution is often done by means of an extended Kalman filter using a… (More)

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