A New Technique for INS/GNSS Attitude and Parameter Estimation Using Online Optimization

摘要

Integration of inertial navigation system (INS) and global navigationsatellite system (GNSS) is usually implemented in engineering applications byway of Kalman-like filtering. This form of INS/GNSS integration is prone toattitude initialization failure, especially when the host vehicle is movingfreely. This paper proposes an online constrained-optimization method tosimultaneously estimate the attitude and other related parameters includingGNSS antenna's lever arm and inertial sensor biases. This new techniquebenefits from self-initialization in which no prior attitude or sensormeasurement noise information is required. Numerical results are reported tovalidate its effectiveness and prospect in high accurate INS/GNSS applications.