@InProceedings{KojaLeit:2017:RePoIn,
               author = "Koja, Rian and Leite Filho, Waldemar de Castro",
          affiliation = "{Instituto Nacional de Pesquisas Espaciais (INPE)} and {Instituto 
                         Nacional de Pesquisas Espaciais (INPE)}",
                title = "Revisited position-velocity integration formulas for in-flith 
                         self-alignment of GPS-aided inertial navigation systems",
            booktitle = "Anais...",
                 year = "2017",
         organization = "Confer{\^e}ncia Brasileira de Din{\^a}mica, Controle e 
                         Aplica{\c{c}}{\~o}es (DINCON)",
             keywords = "Inertial Navigation Systems, In-Flight-Alignment, Attitude 
                         Estimation.",
             abstract = "This paper reviews and adapts the framework for attitude 
                         initialization of an Inertial Navigation System with 
                         Position-Velocity Integration formulas, which are based on 
                         measurements from GPS receiver and inertial sensors. It is shown 
                         that some shortcomings of such methods are more critical for a 
                         simplied comparison algorithm, which in turn helps create a 
                         derived method, based on some logical conditions checks that allow 
                         on-line declaration of convergence for the computed attitude.",
  conference-location = "S{\~a}o Jos{\'e} do Rio Preto, SP",
      conference-year = "30 out. - 01 nov.",
           targetfile = "koja_revisited.pdf",
        urlaccessdate = "26 abr. 2024"
}