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HEADING INCONSISTENCY MITIGATION FOR INERTIAL NAVIGATION USING LOW-PERFORMANCE INERTIAL MEASUREMENT UNITS WITH RELATIVE AIDING
HEADING INCONSISTENCY MITIGATION FOR INERTIAL NAVIGATION USING LOW-PERFORMANCE INERTIAL MEASUREMENT UNITS WITH RELATIVE AIDING
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机译:使用相对辅助的低性能惯性测量单元进行惯性导航的航向不一致性缓解
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摘要
A method of mitigating filter inconsistency of a heading estimate in an inertial navigation system is provided. The method includes inputting inertial measurements from at least one low-performance inertial measurement unit (IMU) in the inertial navigation system; inputting an initial-heading from at least one heading-information source; inputting an initial-heading uncertainty level associated with an error in the inputted initial-heading; initializing an initial-heading estimate with the inputted initial-heading; initializing an initial-heading uncertainty estimate with the inputted initial-heading uncertainty level; initializing an accumulated heading-change estimate to zero at a startup of the at least one low-performance IMU; and initializing an accumulated heading-change uncertainty estimate with an initial accumulated heading-change uncertainty level that is a value less than the inputted initial-heading uncertainty level; and periodically updating the accumulated heading-change estimate with the inertial measurements input from the at least one low-performance IMU.
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