Dual-antenna GNSS-aided robust MEMS IMU initial alignment under the earth-centered-earth-fixed frame
Siyu Zhang,
Weiming Tang,
Chenlong Deng
et al.
Abstract:The micro-electro-mechanical system (MEMS), with its small size, low cost and low power, has attracted widespread attentions in recent year, and the initial alignment of the inertial measurement unit (IMU) is an indispensable step before the navigation computation. In the traditional alignment methods with only the velocity measurements, the yaw angle is subject to divergence under low dynamic scenarios, and the measurements are also susceptible to the external environments. Furthermore, the navigation frame (… Show more
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