Robust Adaptive Multiple Backtracking VBKF for In-Motion Alignment of Low-Cost SINS/GNSS

Robust Adaptive Multiple Backtracking VBKF for In-Motion Alignment of Low-Cost SINS/GNSS

The low-cost Strapdown Inertial Navigation System (SINS)/Global Navigation Satellite System (GNSS) is widely used in autonomous vehicles for positioning and navigation. Initial alignment is a critical stage for SINS operations, and the alignment time and accuracy directly affect the SINS navigation...

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Bibliographic Details
Main Authors: Weiwei Lyu, Yingli Wang, Shuanggen Jin, Haocai Huang, Xiaojuan Tian, Jinling Wang
Format: Article
Language:English
Published: MDPI AG 2025-08-01
Series:Remote Sensing
Subjects:
low-cost Strapdown Inertial Navigation System
in-motion alignment
adaptive multiple backtracking
Expectation–Maximization
robust filter
Online Access:https://www.mdpi.com/2072-4292/17/15/2680
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