A Smoother for Attitude and Position Estimation Using Inertial Sensors With Zero Velocity Intervals

This paper is concerned with attitude and position estimation of movement, which is between two zero velocity intervals. The proposed method is suitable for analysis of movement for a short moving interval. Using two boundary information (zero velocity interval), attitude is estimated by an attitude smoother. Using the smoothed attitude, velocity is estimated by a velocity smoother. The position is computed by integrating the velocity estimate. Through numerical examples, the proposed method is shown to be less sensitive to the uncalibrated sensor parameters and sensor noises, which are main sources of estimation errors.