Limitations

[vegard-solum-4ss]

• [x] Need to interpolate the heading, which means we cannot process sample-by-sample. (Not relevant for MEKF)
• [x] Need to convert longitude-latitude-height to NED.
• [ ] AINS cannot correct for installation offsets.
• [ ] AINS cannot account for sensor installed with z-axis upwards.
• [x] AINS cannot account for GPS position different from INS position.
• [x] AINS cannot update measurement noise covariance.
• [x] Flatten output arrays.
• [x] Make AINS stateful.
• [x] AINS cold-start procedure (P and R matrix -> acc bias issue)
• [ ] AINS aiding fallback procedure when aiding becomes unavailable for a longer periods?
• [ ] Parse GPS and compass data.
• [ ] Coordinate frames may be confusion. E.g., the translation vector from GPS to GW.