Step-wise smoothing of ZUPT-aided INS
Due to the recursive nature of most foot-mounted zero-velocityupdate-aided (ZUPT-aided) inertial navigation systems (INSs), the error covariance increases throughout each step and "collapses" at the end of the step, where the ZUPT correction is done. This gives sharp corrections and discon...
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| Format: | Others |
| Language: | English |
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KTH, Signalbehandling
2012
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| Online Access: | http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-99202 |