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Computer Science > Robotics

arXiv:1801.05212 (cs)
[Submitted on 16 Jan 2018]

Title:Semi-Analytic Method for SINS Attitude and Parameters Online Estimation

Authors:Lubin Chang
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Abstract:In this note, the attitude and inertial sensors drift biases estimation for Strapdown inertial navigation system is investigated. A semi-analytic method is proposed, which contains two interlaced solution procedures. Specifically, the attitude encoding the body frame changes and gyroscopes drift biases are estimated through attitude estimation while the attitude encoding the constant value at the very start and accelerometers drift biases are determined through online optimization.
Subjects: Robotics (cs.RO)
Cite as: arXiv:1801.05212 [cs.RO]
  (or arXiv:1801.05212v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.1801.05212

Submission history

From: Lubin Chang [view email]
[v1] Tue, 16 Jan 2018 11:30:25 UTC (154 KB)
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