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rodralez / NaveGo

NaveGo: an open-source MATLAB/GNU Octave toolbox for processing integrated navigation systems and performing inertial sensors analysis.
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size of F and G matrix #35

Closed AliRamshini closed 3 years ago

AliRamshini commented 3 years ago

Hi, Dr Gonzalez After I study your codes , figure out in your article , dimension of F matrix is 2121 but you programmed it 1515 , why? and please submit a reference for more understanding a ZUPT algorithm and formula . thank you .

rodralez commented 3 years ago

Hi Ali,

Static bias can be modeled as a sum of a deterministic part and a stochastic part. The deterministic static bias can be found using a calibration method in a laboratory. The stochastic static bias provides a constant variation in the bias every time the IMU is switched on (run-to-run variation). This error ca be compensated by the Kalman filter.

Previous versions of NaveGo compensated the stochastic static biases but we realized that this error was also captured by the stochastic dynamic biases, so the compensation of stochastic static biases was dropped and the state vector was reduced from 21 states to 15 states.

The ZUPT algorithm was taken from "Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems", Second Edition, by Prof. Paul D. Groves, section 15.3 (Zero Updates).

Kind regards.