MCTLS-Assisted Completed SINS/GPS Integrated and Applied to Low-Cost Attitude and Heading Reference System

In this paper, a robust heading determination method is proposed for low-cost attitude and reference system (AHRS) aided by the global positioning (GPS). As compared with traditional GPS/SINS-integrated navigation-based method, in information obtained from GPS velocity outputs first incorporated into observation vector, which constructs novel completed GPS/SINS integration framework greatly improves observability of azimuthal misalignment Kalman filter. Moreover, multivariate constrained total least square (MCTLS) integrated to deal measurement error both input output data model, accuracy observed yields estimation at each time instant. Simulation experiment results demonstrate that can outperform related state-of-the-art methods GPS-aided system.