@Article{SilvaHemeLeit:2018:MeSeSt,
               author = "Silva, Felipe O. and Hemerly, Elder M. and Leite Filho, Waldemar 
                         de Castro",
          affiliation = "{Universidade Federal de Lavras (UFLA)} and {Instituto de 
                         Aeron{\'a}utica e Espa{\c{c}}o (IAE)} and {Instituto Nacional de 
                         Pesquisas Espaciais (INPE)}",
                title = "On the measurement selection for stationary SINS alignment Kalman 
                         filters",
              journal = "Measurement: Journal of the International Measurement 
                         Confederation",
                 year = "2018",
               volume = "130",
                pages = "82--83",
                month = "Dec.",
             keywords = "Stationary fine self-alignment, Inertial navigation, Measurement 
                         selection, Nonholonomic constraints, Convergence rate, Kalman 
                         filter.",
             abstract = "This paper presents a comprehensive study aiming at the optimal 
                         measurement selection for Kalman filters applied to the stationary 
                         fine self-alignment of strapdown inertial navigation systems 
                         (SINS). On the basis of the definition of nonholonomic 
                         constraints, two very important measurement strategies for 
                         alignment purposes are investigated and mathematically derived: 
                         the standalone zero velocity update (ZVU) strategy, and an 
                         augmented measurement strategy, formed from the ZVU constraint in 
                         addition to the constant Earth rate and gravity update (CERGU) 
                         constraint. As main contribution of this paper, we analytically 
                         prove, trough the Cholesky factorization of the observability 
                         information matrix, that the augmented strategy is able to improve 
                         the convergence rate of the stationary fine self-alignment Kalman 
                         filter. For complying with the SINS rapidity requirement, the 
                         augmented measurement strategy is considered superior to the 
                         traditional standalone ZVU strategy. Simulated and experimental 
                         results confirm the adequacy of the outlined conclusions.",
                  doi = "10.1016/j.measurement.2018.08.004",
                  url = "http://dx.doi.org/10.1016/j.measurement.2018.08.004",
                 issn = "0263-2241",
             language = "en",
           targetfile = "silva_on.pdf",
        urlaccessdate = "02 maio 2024"
}