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

Abstract

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)

10 Figures and Tables

Topics

  • Presentations referencing similar topics