Adaptive Estimation Algorithm for Correcting Low-Cost MEMS-SINS Errors of Unmanned Vehicles under the Conditions of Abnormal Measurements.

In this paper, a low-cost small-sized strap-down inertial navigation system (SINS)-Gyrolab GL-VG 109-is studied. When the system is installed on an unmanned vehicle and works in autonomous mode, it is difficult to determine the navigation parameters of the unmanned vehicle. Correcting the SINS information from the Global Navigation Satellite System (GNSS) can significantly increase the determination accuracy of the navigation parameters.