The use of high sensitivity GPS for initialisation of a foot mounted inertial navigation system

This work aims to optimise the use of GNSS for intialising a foot mounted pedestrian INS. The INS error model used in many navigation filters requires the input of an accurate, precise initial position and heading for stable filter performance. However such information is often not available at the start of a navigation session. Often a rough initialisation is performed and position updates are used to refine the INS state vector error estimates over time. This approach is often ineffective in the early portion of a navigation session and can lead to poor filter performance.