The Use of High Sensitivity GPS for Initialisation of a Foot Mounted Inertial Navigation System

J. Pinchin, C. Hide, T. Moore

Abstract:	This work aims to optimise the use of GNSS for initialising a foot mounted pedestrian INS. The INS error model used in many navigation filters requires the input of an accurate, precise initial position and heading for stable filter performance. However such information is often not available at the start of a navigation session. Often a rough initialisation is performed and position updates are used to refine the INS state vector error estimates over time. This approach is often ineffective in the early portion of a navigation session and can lead to poor filter performance.
Published in:	Proceedings of IEEE/ION PLANS 2012 April 24 - 26, 2012 Myrtle Beach Marriott Resort & Spa Myrtle Beach, South Carolina
Pages:	998 - 1007
Cite this article:	Pinchin, J., Hide, C., Moore, T., "The Use of High Sensitivity GPS for Initialisation of a Foot Mounted Inertial Navigation System," Proceedings of IEEE/ION PLANS 2012, Myrtle Beach, South Carolina , April 2012, pp. 998-1007. https://doi.org/10.1109/PLANS.2012.6236841
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