# A New Technique for INS/GNSS Attitude and Parameter Estimation Using Online Optimization

arXiv: https://arxiv.org/abs/1403.2174 · HTML: https://mlsanity.com/paper/1403.2174/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 10 Mar 2014.

## Built on by (most cited first, 1 of 1)

- [GNSS-Inertial State Initialization Using Inter-Epoch Baseline Residuals](https://mlsanity.com/paper/2506.11534/) (2025)

## Abstract (arXiv)

Integration of inertial navigation system (INS) and global navigation satellite system (GNSS) is usually implemented in engineering applications by way of Kalman-like filtering. This form of INS/GNSS integration is prone to attitude initialization failure, especially when the host vehicle is moving freely. This paper proposes an online constrained-optimization method to simultaneously estimate the attitude and other related parameters including GNSS antenna's lever arm and inertial sensor biases. This new technique benefits from self-initialization in which no prior attitude or sensor measurement noise information is required. Numerical results are reported to validate its effectiveness and prospect in high accurate INS/GNSS applications.