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GNSS and inertial navigation system utilizing relative yaw as an observable for an ins filter
GNSS and inertial navigation system utilizing relative yaw as an observable for an ins filter
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机译:GNSS和惯性导航系统,利用相对偏航作为ins滤波器的观测值
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摘要
A GNSS/INS navigation system includes an INS filter that uses relative yaw values as an observable for attitude updates. The system calculates the relative yaw values based on carrier phase measurements, e.g., phase windup measurements, of GNSS signals received at a system GNSS antenna. The use of the relative yaw values as an observable in the INS filter allows the system to improve estimates of associated biases, and also to continue to estimate the associated biases in low dynamic environments.
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