Limitations

[vegard-solum-4ss]

• Need to interpolate the heading, which means we cannot process sample-by-sample. (Not relevant for MEKF)
• Need to convert longitude-latitude-height to NED.
• AINS cannot correct for installation offsets.
• AINS cannot account for sensor installed with z-axis upwards.
• AINS cannot account for GPS position different from INS position.
• AINS cannot update measurement noise covariance.
• Flatten output arrays.
• Make AINS stateful.
• AINS cold-start procedure (P and R matrix -> acc bias issue)
• AINS aiding fallback procedure when aiding becomes unavailable for a longer periods?
• Parse GPS and compass data.
• Coordinate frames may be confusion. E.g., the translation vector from GPS to GW.