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Aiming to advance the coning algorithm performance of strapdown inertial navigation systems, a new half-compressed coning correction structure is presented. The half-compressed algorithm structure is analytically proven to be equivalent to the traditional compressed structure under coning environments. The half-compressed algorithm coefficients allow direct configuration from traditional compre...

As evidenced by many biological systems, the fusion of optical and inertial sensors represents an attractive method for passive navigation. In our previous work, a rigorous theory for optical and inertial fusion was developed for precision navigation applications. The theory was based on a statistical transformation of the feature space based on inertial sensor measurements. The transformation ...

For multisenor integration, a primary prerequisite is time synchronization. Methods that have been used in many operational systems are either too expensive, or have inconvenient features, that make them inappropriate for research purposes. In this paper the system design of a Cost Effective Synchronization System (CESS) is described. Tests show that a synchronization accuracy of 0.4ms can be a...

In this paper, the authors describe the integration of an INS and the Locata system, that uses Locata’s position, velocity and attitude solutions to calibrate INS observations in order to achieve an accurate, robust and continuous indoor navigation solution. The multi-sensor experiment conducted at Locata’s Numerella Test Facility is described in the paper. The measurement data were collected a...