Data-Driven Based Cascading Orientation and Translation Estimation for Inertial Navigation
Xiangyu Deng,Shenyue Wang,Chunxiang Shan,Jinjie Lu,Ke Jin,Jijunnan Li,Yandong Guo,Xiangyu Deng,Shenyue Wang,Chunxiang Shan,Jinjie Lu,Ke Jin,Jijunnan Li,Yandong Guo
Recently, data-driven approaches have brought both opportunities and challenges for Inertial Navigation Systems. In this paper, we propose a novel data-driven method which is composed of cascading orientation and translation estimation with IMU-only measurements. For robust orientation estimation, we combine a CNN-based neural network with an EKF to eliminate orientation errors caused by sensor no...
