Squeezing Position Updates for Enhanced Estimation of Land Vehicles Aided INS

Itzik Klein, Yeshaya Lipman, Eliav Vaknin

Research output: Contribution to journalArticlepeer-review


The case of a land vehicle traveling in a straight and leveled trajectory with a position aided inertial navigation system (INS) is considered. In such a scenario, the heading angle and some of the inertial sensors error states are not observable. To circumvent this problem, we propose a method to extract attitude information from position measurements history provided by the external sensor. Simultaneously utilizing the attitude information and position updates in the navigation filter enables the estimation of the heading angle and all of the inertial sensors error states. That is, using the proposed approach the system becomes completely observable. Simulation and field experiment results are provided to show the navigation solution performance when applying the proposed approach.

Original languageEnglish
Article number9069956
Pages (from-to)9385-9393
Number of pages9
JournalIEEE Sensors Journal
Issue number16
StatePublished - 15 Aug 2020

Bibliographical note

Publisher Copyright:
© 2001-2012 IEEE.


  • Heading estimation
  • inertial navigation systems
  • observability analysis
  • position aiding

ASJC Scopus subject areas

  • Instrumentation
  • Electrical and Electronic Engineering


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