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In this note, the attitude and inertial sensors drift biases estimation forStrapdown inertial navigation system is investigated. A semi-analytic method isproposed, which contains two interlaced solution procedures. Specifically, theattitude encoding the body frame changes and gyroscopes drift biases areestimated through attitude estimation while the attitude encoding the constantvalue at the very start and accelerometers drift biases are determined throughonline optimization.

Semi-Analytic Method for SINS Attitude and Parameters Online Estimation