Algorithm for joint estimation of the navigation vector and unknown bias in the loosely coupled inte- grated navigation system using adaptive two-stage extended Kalman filter

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Authors: Konakov A. S., Shavrin V. V., Nozdrevatyh D. O., Savin A. A., Tislenko V. I.

Annotation: The algorithms joint estimation navigation consumer and unknown bias accelerometer and gyroscope in a loosely coupled navigation system, which is a union of two navigation systems: strapdown inertial and satellite based adaptive two-stage extended Kalman filter. There are given the results of modeling, statistical properties of the algorithm.

Keywords: two-stage extended kalman filter, adaptive filtering, integrated inertial and satellite navigation systems, micro electro mechanical systems, bias of mems