{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/a-closed-form-solution-for-the-strapdown","title":"A Closed-form Solution for the Strapdown Inertial Navigation Initial Value Problem","arxiv_id":"2310.04886","date":"2023-10-07","proceeding":null,"authors":["James Goppert","Li-Yu Lin","Kartik Pant","Benjamin Perseghetti"],"abstract":"Strapdown inertial navigation systems (SINS) are ubiquitious in robotics and engineering since they can estimate a rigid body pose using onboard kinematic measurements without knowledge of the dynamics of the vehicle to which they are attached. While recent work has focused on the closed-form evolution of the estimation error for SINS, which is critical for Kalman filtering, the propagation of the kinematics has received less attention. Runge-Kutta integration approaches have been widely used to solve the initial value problem; however, we show that leveraging the special structure of the SINS problem and viewing it as a mixed-invariant vector field on a Lie group, yields a closed form solution. Our closed form solution is exact given fixed gyroscope and accelerometer measurements over a sampling period, and it is utilizes 12 times less floating point operations compared to a single integration step of a 4th order Runge-Kutta integrator. We believe the wide applicability of this work and the efficiency and accuracy gains warrant general adoption of this algorithm for SINS.","url_abs":"https://arxiv.org/abs/2310.04886v1","url_pdf":"https://arxiv.org/pdf/2310.04886v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"a-closed-form-solution-for-the-strapdown","repo_url":"https://github.com/cognipilot/cyecca","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[{"task_slug":"form","task_name":"Form"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}