LAUSR

This paper proposes a novel gyro drift estimation method for the inertial navigation system (INS), which introduces the particle swarm optimization (PSO) algorithm into the error estimation problem. PSO-based estimation model is established. The position error and velocity error of INS are considered as the performance criterions of the PSO fitness function. Compared with the traditional gyro drift estimation methods, the advantages or contributions of the proposed method can be summarized as follows: 1) the proposed method does not require any prior information about inertial sensor error or observation noise; 2) particular motion for the carrier of INS is not needed, and; 3) the external information provided by other navigation systems could be discontinuous. The simulation experiments and field tests are performed, which validate the efficacy of the proposed method.