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DOE OSTI · 2516824

Earth-Centered, Earth-Fixed Inertial Navigation System & Error-State Kalman Filter Reference Manual

Haydon, Tucker Caelan Ellis [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States)]
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Abstract

This is a self-contained reference document that derives the equations necessary to build a combined inertial navigation system and error-state Kalman filter. Coordinate transform, linear time invariant system, inertial sensing, and error-state Kalman filtering theory is built up from first principles. This theory is then leveraged to derive the system equations for two combined inertial navigation system and error-state Kalman filters: (1) a 15-state system modeling white-noise-integrating accelerometer and gyroscope biases, and (2) a 39-state system modeling static and first-order Gauss-Markov accelerometer and gyroscope biases, scale factor errors, and cross-axis sensitivity errors.

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Haydon, Tucker Caelan Ellis [Sandia National Laboratories (SNL-NM), Albuquerque, NM (United States)]. 2025-01-01. Earth-Centered, Earth-Fixed Inertial Navigation System & Error-State Kalman Filter Reference Manual. https://doi.org/10.2172/2516824

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