Abstract:The in‐motion alignment for the underwater strapdown inertial navigation system is still a challenging problem due to various disturbances in the underwater environment. In this paper, a novel in‐motion alignment method, based on the Lie group representation, is developed. In this method, the process model is rewritten using the Lie group of the constant attitude matrix between two inertial frames as the state. An exact linear measurement model is constructed by analyzing the effect of the sensor errors in cal… Show more
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