摘要：An algorithm for a low cost strapdown inertial navigation system based on improved MEMS error models and aided with a magnetometer and GPS sensor measurements is proposed. The system utilizes the Analog Devices tri-axial Inertial Measurement Unit ADIS16405 involving MEMS gyroscopes, accelerometers and magnetometers and implements Extended Kalman Filter of 22nd order. The main contribution is the usage of more accurate models of MEMS sensor noises which take into account not only the white noises and random walk terms but also the bias instabilities of the sensor noises.
