Innovative estimation method with measurement likelihood for all-accelerometer type inertial navigation system

Author

Lee, Sou-chen ; Huang, Yu-chao

Author_Institution

Dept. of Syst. Eng., Chung Cheng Inst. of Technol., Taoyuan, Taiwan

Volume

38

Issue

1

fYear

2002

fDate

1/1/2002 12:00:00 AM

Firstpage

339

Lastpage

346

Abstract

Presents an innovative estimation scheme to solve the initial and divergent problems for an all-accelerometer inertial navigation system (INS). The proposed system uses six accelerometers mounted diagonally on each surface of a cubic. The system proposed herein exploits additional information involving the gravity effect, allowing us to determine the angular velocity. It also provides an upper bound value to initiate the platform attitude. In addition, an estimation algorithm using the own-ship trajectory estimator providing a measurement likelihood is proposed. A simulation case for estimating position and velocity of the vehicle is investigated by this approach. Results confirm the effectiveness of this information infusing concept in obtaining a convergent INS state estimation

Keywords

accelerometers; aircraft navigation; inertial navigation; state estimation; all-accelerometer inertial navigation system; angular velocity; estimation method; gravity effect; measurement likelihood; own-ship trajectory estimator; platform attitude; position estimation; state estimation; upper bound value; velocity estimation; Acceleration; Accelerometers; Angular velocity; Gravity; Gyroscopes; Inertial navigation; Integral equations; Position measurement; State estimation; Velocity measurement;

fLanguage

English

Journal_Title

Aerospace and Electronic Systems, IEEE Transactions on

Publisher

ieee

ISSN

0018-9251

Type

jour

DOI

10.1109/7.993257

Filename

993257