Estimation and Compensation of Disturbances in Inertial Position System

The drifts of gyroscopes and biases of accelerators are the main sources of disturbances.In this paper,the estimation and compensation of these disturbances in an operating system have been discussed.Then the sufficient and necessary conditions for the existence of the Linear Least Squares estimation are analyzed,and the properties of compensated system are analyzed.Finally the application results in an inertial position determining system have been presented shortly.