Introduction to Newtonian Estimation and its Full State Formulation Application to INS Systems

Charles S. Shapiro

Abstract:	This paper presents the results of the first application of a new real-time semi-batch estimation methodology, referred to as Newtonian Estimation (NE), to a real tactical grade IMU and dual-frequency GPS carrier phase data. This data set, courtesy of The Ohio State University (OSU), was collected on May 4, 2009 in Columbus, Ohio, and was used here to test the performance of the NE approach in comparison to the standard Extended Kalman Filter. The test results suggest that Newtonian Estimation could represent a major technological advancement for GPS/IMU navigation systems. This paper discusses the primary premises behind the NE methodology. The details of the theoretical concepts, algorithm implementation and preliminary performance assessment based on simulated data are provided in Shapiro (2004 and 2009).
Published in:	Proceedings of the 2010 International Technical Meeting of The Institute of Navigation January 25 - 27, 2010 Catamaran Resort Hotel San Diego, CA
Pages:	81 - 88
Cite this article:	Shapiro, Charles S., "Introduction to Newtonian Estimation and its Full State Formulation Application to INS Systems," Proceedings of the 2010 International Technical Meeting of The Institute of Navigation, San Diego, CA, January 2010, pp. 81-88.
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