Observability and Performance Analysis of Velocity Measurements with Lever Arm Aided INS

Aviram Borko, Itzik Klein, Gilad Even-Tzur

Research output: Contribution to journalArticlepeer-review


In most autonomous vehicles the navigation subsystem is based on Inertial Navigation System (INS). Regardless of the INS grade, its navigation solution drifts in time. To avoid such a drift, the INS is fused with external sensor measurements. Recent publications show that the lever-arm, the relative position between the INS and aiding sensor, has influence on the navigation performance. Most published research in this field is focused on INS/GNSS fusion with GNSS position updates only where performance and analytical observability analysis were made to examine the consequence of vehicle maneuvers on the estimation of the lever-arm states. Yet, besides position updates, a variety of sensors measuring the vehicle velocity vector are available including GNSS and a Doppler velocity log. As in position measurements, when performing INS/velocity measurements fusion, the lever-arm must be taken account for. In this paper, performance analysis for velocity measurements with lever-arm aided INS is made for different maneuvers. Two error-states models are used in the analysis. Simulation results show the sensitivity of the error-states to lever arm and vehicle maneuver.
Original languageEnglish
Issue number3
StatePublished - 2018
Externally publishedYes
EventThe 4th International Electronic Conference on Sensors and Applications - Online
Duration: 15 Nov 201730 Nov 2017
Conference number: 4th


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