Accuracy Improvement by Boundary Conditions for Inertial Navigation | Zendy

Tuukka Nieminen | Zendy; Jari Kangas | Zendy; Saku Suuriniemi | Zendy; Lauri Kettunen | Zendy

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Accuracy Improvement by Boundary Conditions for Inertial Navigation

Author(s) -

Tuukka Nieminen,

Jari Kangas,

Saku Suuriniemi,

Lauri Kettunen

Publication year - 2010

Publication title -

international journal of navigation and observation

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.176

H-Index - 18

eISSN - 1687-6008

pISSN - 1687-5990

DOI - 10.1155/2010/869127

Subject(s) - inertial frame of reference , inertial navigation system , boundary value problem , position (finance) , term (time) , boundary (topology) , limit (mathematics) , computer science , inertial measurement unit , control theory (sociology) , mathematics , artificial intelligence , mathematical analysis , physics , classical mechanics , control (management) , finance , quantum mechanics , economics

The term inertial navigation is often automatically associated with the term initial value problem. However, there are many applications where it is possible to end up with a boundary value problem (BVP) as well. We show that in case of a BVP, the finite element method that incorporates boundary conditions can be efficiently used to compute position and velocity estimates not prone to accumulation of errors. For further accuracy enhancements, a method of combining inertial measurements with additional constraints is proposed. This way, we can model sensor errors, known to limit the accuracy of the system. The capabilities of the proposed methods are demonstrated with real-life examples

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