Estimation of Biases in Gyro Drifts by Means of l1-norm Approximation.

A strapdown inertial navigation system at bench tests is under consideration. Because of jump variations of gyro drifts, the estimates of the drifts obtained by standard quadratic methods are not sufficiently accurate. We investigate the application of l1-norm approximation to estimation of gyro drifts. Such approach is robust to abrupt changes in signals. An additional calculation of non-optimality levels for the current iterations of numerical algorithm makes the computational procedure more efficient.