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@inproceedings{Jacques2007lb,

title = {In-Flight Alignment in INS-Aiding with Switched Feedforward/Feedback of Error Estimates},

author = {Jacques W aldmann},

url = {https://www.sige.ita.br/edicoes-anteriores/2007/st/GE_26.pdf},

year  = {2007},

date = {2007-01-01},

booktitle = {Simp\'{o}sio de Aplica\c{c}\~{o}es Operacionais em \'{A}reas de Defesa 2007 (SIGE2007)},

abstract = {Unmanned air vehicles often resort to a low-cost inertial measurement unit (IM U) in an inertial navigation system (INS) to estimate position and velocity. Stand-alone INS operation yields unbounded estimation errors. Such behavior motivates INS aiding by auxiliary position and velocity sensors to limit navigation error. Acceleration maneuvers and IM U rotation with respect to the vehicle are used to enhance the observability of INS error dynamics, in conjunction with Kalman filter-based sensor fusion to estimate position and velocity errors, IM U misalignment and sensor errors. This work investigates feedforward and feedback of error estimates for INS aiding. Feedforward integration is used to estimate IM U misalignment and sensor errors with adequate accuracy, and then switches to feedback integration for in-flight alignment (IFA), that is INS reset and IM U calibration during operation. A M onte Carlo simulation provides evidence supporting the approach.},

keywords = {autonomous vehicles, in-flight alignment, Inertial Navigation, robotics, sensor fusion},

pubstate = {published},

tppubtype = {inproceedings}

}