KALMAN FILTER FORMULATIONS FOR TRANSFER ALIGNMENT OF STRAPDOWN INERTIAL UNITS

Alan M. Schneider

Peer Reviewed

Abstract: Formulations of Kalman filters are presented which are capable of aligning one strapdown inertial sensor assembly with another by estimating the misalignment angle between them. One formulation treats the case of a fixed misalignment. Another treats the case of a dynamic misalignment, caused, say, by bending of the common supporting body. Measurements can be made by gyros only, or by gyros plus accelerometers. Filters which estimate inertial sensor error parameters are also discussed.
Published in: NAVIGATION, Journal of the Institute of Navigation, Volume 30, Number 1
Pages: 72 - 89
Cite this article: Schneider, Alan M., "KALMAN FILTER FORMULATIONS FOR TRANSFER ALIGNMENT OF STRAPDOWN INERTIAL UNITS", NAVIGATION, Journal of The Institute of Navigation, Vol. 30, No. 1, Spring 1983, pp. 72-89.
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