About this document
Ieee VT2005 by David Bermejo is a document available to read on EtoBox.
This document summarizes a research paper that analyzes the observability of error states in integrated GPS/INS systems. It finds that uncertainties in attitude, gyro bias, and the GPS antenna lever arm can lead to unobservable errors in position, velocity, and accelerometer bias estimates. However, it shows that all errors can be made observable through vehicle maneuvers, as acceleration changes improve attitude and gyro bias estimates while changes in angular velocity enhance the lever arm estimate. A sim
- Author
- David Bermejo
- Language
- EN