An Optimization-Based Initial Alignment and Calibration Algorithm of Land-Vehicle SINS In-Motion

An Optimization-Based Initial Alignment and Calibration Algorithm of Land-Vehicle SINS In-Motion

For a running freely land-vehicle strapdown inertial navigation system (SINS), the problems of self-calibration and attitude alignment need to be solved simultaneously. This paper proposes a complete alignment algorithm for the land vehicle navigation using Inertial Measurement Units (IMUs) and an o...

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Bibliographic Details
Main Authors: Kang Gao, Shunqing Ren, Xijun Chen, Zhenhuan Wang
Format: Article
Language:English
Published: MDPI AG 2018-06-01
Series:Sensors
Subjects:
strapdown inertial navigation system (SINS)
initial alignment
odometer
optimized estimate
extended Kalman filter (EKF)
Online Access:http://www.mdpi.com/1424-8220/18/7/2081

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