%0 Journal Article
%T A New Technique for INS/GNSS Attitude and Parameter Estimation Using Online Optimization
%A Yuanxin Wu
%A Jinling Wang
%A Dewen Hu
%J Computer Science
%D 2014
%I arXiv
%R 10.1109/TSP.2014.2312317
%X Integration of inertial navigation system (INS) and global navigation satellite system (GNSS) is usually implemented in engineering applications by way of Kalman-like filtering. This form of INS/GNSS integration is prone to attitude initialization failure, especially when the host vehicle is moving freely. This paper proposes an online constrained-optimization method to simultaneously estimate the attitude and other related parameters including GNSS antenna's lever arm and inertial sensor biases. This new technique benefits from self-initialization in which no prior attitude or sensor measurement noise information is required. Numerical results are reported to validate its effectiveness and prospect in high accurate INS/GNSS applications.
%U http://arxiv.org/abs/1403.2174v1