Use of Tikhonov Regularization to Improve the Accuracy of Position Estimates in Inertial Navigation

[摘要] Inertial navigation problemsare often understood asinitial value problems. However, there are many applications whereboundary value problemsnaturally arise. In these situations, it has been shown that thefinite element methodcan be efficiently used to compute accurate position and velocity estimates. We will propose that finite element method complemented withTikhonov regularization—a basic tool for inverse problems—is a powerful combination for further accuracy improvements. The proposed method provides a straightforward way to exploit prior information of various types and is subject to rigorous optimality results. Use and accuracy of the proposed method are demonstrated with examples.

[学科分类] 电子、光学、磁材料