Revisited Position-Velocity Integration Formulas for In-Flight Self-Alignment of GPS-Aided Inertial Navigation Systems

Rian Koja¹; Waldemar de Castro Leite Filho¹

¹ Instituto Nacional de Pesquisas Espaciais

Resumo

This paper reviews and adapts the framework for attitude initialization of an Inertial Navigation System with Position-Velocity Integration formulas, which are based on measurements from GPS receiver and inertial sensors. It is shown that some shortcomings of such methods are more critical for a simplified comparison algorithm, which in turn helps create a derived method, based on some logical conditions checks that allow on-line declaration of convergence for the computed attitude.