Table of Contents
International Journal of Navigation and Observation
Volume 2013, Article ID 762758, 6 pages
Research Article

An Intuitive Approach to Inertial Sensor Bias Estimation

Topcon Positioning Systems, LLC, 7/22 Derbenevskaya Embankment, Moscow 115114, Russia

Received 13 April 2013; Revised 1 June 2013; Accepted 11 June 2013

Academic Editor: Aleksandar Dogandzic

Copyright © 2013 Vasiliy M. Tereshkov. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A simple approach to gyro and accelerometer bias estimation is proposed. It does not involve Kalman filtering or similar formal techniques. Instead, it is based on physical intuition and exploits a duality between gimbaled and strapdown inertial systems. The estimation problem is decoupled into two separate stages. At the first stage, inertial system attitude errors are corrected by means of a feedback from an external aid. In the presence of uncompensated biases, the steady-state feedback rebalances those biases and can be used to estimate them. At the second stage, the desired bias estimates are expressed in a closed form in terms of the feedback signal. The estimator has only three tunable parameters and is easy to implement and use. The tests proved the feasibility of the proposed approach for the estimation of low-cost MEMS inertial sensor biases on a moving land vehicle.