A novel estimation scheme for six-accelerometer inertial navigation system

An innovation estimation scheme is conceived to solve the initial and divergent problems for an all-accelerometer inertial navigation system (INS). The reformulated unobservable system with six accelerometers mounted diagonally on each surface of a cubic is investigated. An own-ship trajectory estimator produces extra pseudo measurements in position and velocity of the vehicle to help the Kalman filter in achieving convergence subject to unknown initial values. It also provides an upper bound value for the initiation of the platform attitude, A simulation case with arbitrary initial values verifies the effectiveness of using this information infusing concept in obtaining a convergent INS state estimation.