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In the field of high accuracy strapdown inertial navigation system (SINS), the inertial measurement unit (IMU) biases can severely affect the navigation accuracy. Traditionally we use Kalman filter (KF) to estimate those biases. However, KF is an unbiased estimation method based on the assumption of Gaussian white noise (GWN) while IMU sensors noise is irregular. Kalman filtering will no longer be accurate when the sensor's noise is irregular. In order to obtain the optimal solution of the IMUdoi:10.3390/s21155055 fatcat:57otj2mue5b5jdw6esbvsojfsi