Abstract:Traditional orthogonal strapdown inertial navigation system (SINS) cannot achieve satisfactory self-alignment accuracy in the stationary base: taking more than 5 minutes and all the inertial sensors biases cannot get full observability except the up-axis accelerometer. However, the full skewed redundant SINS (RSINS) can not only enhance the reliability of the system, but also improve the accuracy of the system, such as the initial alignment. Firstly, the observability of the system state includes attitude erro… Show more
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