Accuracy Improvement by Boundary Conditions for Inertial Navigation

[摘要] The terminertial navigationis often automatically associated with the terminitial value problem. However, there are many applications where it is possible to end up with aboundary value problem(BVP) as well. We show that in case of a BVP, thefinite element methodthat incorporatesboundary conditionscan 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.

[学科分类] 电子、光学、磁材料