A Comparison of Methods for Online Lever Arm Estimation in GPS/INS Integration

Nick Montalbano, Todd Humphreys

Abstract:	A comparison of neural network, state augmentation, and multiple model-based approaches to online location of inertial sensors on a vehicle is presented that exploits dual antenna carrier-phase-differential GNSS. The best technique among these is shown to yield a significant improvement on a priori calibration with a short window of data. Estimation of Inertial Measurement Unit (IMU) parameters is a mature field, with state augmentation being a strong favorite for practical implementation, to the potential detriment of other approaches. A simple modification of the standard state augmentation technique for determining IMU location is presented that determines which model of an enumerated set best fits the measurements of this IMU. A neural network is also trained on batches of IMU and GNSS data to identify the lever arm of the IMU. A comparison of these techniques is performed and it is demonstrated on simulated data that state augmentation outperforms these other methods.
Published in:	2018 IEEE/ION Position, Location and Navigation Symposium (PLANS) April 23 - 26, 2018 Hyatt Regency Hotel Monterey, CA
Pages:	680 - 687
Cite this article:	Montalbano, Nick, Humphreys, Todd, "A Comparison of Methods for Online Lever Arm Estimation in GPS/INS Integration," 2018 IEEE/ION Position, Location and Navigation Symposium (PLANS), Monterey, CA, April 2018, pp. 680-687. https://doi.org/10.1109/PLANS.2018.8373443
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