# Effects of Initial Attitude Estimation Errors on Loosely Coupled Smartphone GPS/IMU Integration System

arXiv: https://arxiv.org/abs/2009.11807 · HTML: https://mlsanity.com/paper/2009.11807/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 24 Sep 2020.

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

- [Machine Learning-Based GPS Multipath Detection Method Using Dual Antennas](https://mlsanity.com/paper/2204.14001/) (2022)

## Abstract (arXiv)

Global Positioning System (GPS) and inertial measurement unit (IMU) sensors are commonly integrated using the extended Kalman filter (EKF), for achieving better navigation performance. However, because of nonlinearity, the performance of the EKF is affected by the initial state estimation errors, and the navigation solutions, including the attitude, diverge rapidly as the initial errors increase. This paper analyzes the data obtained from an outdoor experiment, and investigates the effect of the initial errors on the attitude estimation performance using EKF, which is used in loosely coupled low-cost smartphone GPS/IMU sensors.