Accuracy improvement by boundary conditions for inertial navigation

Tuukka Nieminen, Jari Kangas, Saku Suuriniemi, Lauri Kettunen

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    The term inertial navigation is often automatically associated with the term initial value problem. However, there are many applications where it is possible to end up with a boundary value problem (BVP) as well. We show that in case of a BVP, the finite element method that incorporates boundary conditions can be efficiently used to compute position and velocity estimates not prone to accumulation of errors. For further accuracy enhancements, a method of combining inertial measurements with additional constraints is proposed. This way, we can model sensor errors, known to limit the accuracy of the system. The capabilities of the proposed methods are demonstrated with real-life examples.
    Translated title of the contributionAccuracy improvement by boundary conditions for inertial navigation
    Original languageEnglish
    Pages (from-to)1-10
    Number of pages10
    JournalInternational Journal of Navigation and Observation
    Issue number869127
    Publication statusPublished - 2010
    Publication typeA1 Journal article-refereed

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