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Strapdown inertial navigation system (SINS) is afflicted with the accumulated navigation errors. For implementation of underwater autonomous navigation, it is a challenging task for long-term SINS operations without external information to fix errors. In this paper, a dynamics-aided method is proposed which is suitable for low speed underwater carrier. A generalized velocity integration formula which...
This paper derives a novel initial alignment method for the strapdown inertial navigation system (SINS), which transforms the attitude alignment into an attitude estimation problem. The process model of the proposed initial alignment method by attitude estimation is established by decomposition of the attitude matrix. The measurement model is constructed based on a generalized velocity integration...
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