Abstract:We address the angular misalignment calibration problem, which arises when a multi-antenna GNSS serves as a source of aiding information for inertial sensors in an integrated navigation system. Antennas usually occupy some outside structure of the moving carrier object, whilst an inertial measurement unit typically remains inside. Especially when using low- or mid-grade MEMS gyroscopes and accelerometers, it is either impossible or impractical to physically align IMU-sensitive axes and GNSS antenna baselines w… Show more
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