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Zero Velocity Update (ZUPT) utilizes the zero velocity condition for stationary Strapdown Inertial Navigation System (SINS), executes navigation errors estimation and emendation to control SINS position growth. The improved filter estimation ZUPT is proposed in this paper. Two technologies, separate-bias Kalman filter and yaw error rapid estimation, are applied in the proposed method. Separate-bias...
The problem of adjusting parameters with a separate-bias Kalman filter is addressed for improving the alignment performance of strapdown inertial navigation system (SINS). To reduce the load of navigation computer, the technique of separate bias is implemented. The influence of initial condition and noise covariance on separate-bias Kalman filter is analyzed. The adjustment method using which the...
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