Nonlinear state estimation for inertial navigation systems with intermittent measurements

DOI10.1016/J.AUTOMATICA.2020.109244zbMATH Open1451.93180arXiv2005.03765OpenAlexW3089105113MaRDI QIDQ2208564FDOQ2208564

Miaomiao Wang, A. Tayebi

Publication date: 3 November 2020

Published in: Automatica (Search for Journal in Brave)

Abstract: This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular velocity and linear acceleration measurements as well as intermittent landmark position measurements. The first type relies on a fixed-gain design approach based on an infinite-dimensional optimization, while the second one relies on a variable-gain design approach based on a continuous-discrete Riccati equation. For each case, we provide two different observers with and without the estimation of the gravity vector. The proposed observers are shown to be exponentially stable with a large domain of attraction. Simulation and experimental results are presented to illustrate the performance of the proposed observers.

Full work available at URL: https://arxiv.org/abs/2005.03765

zbMATH Keywords

intermittent measurementshybrid dynamical systemsnonlinear observersinertial navigation

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30) Observers (93B53)

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Cited In (2)

• Initial alignment for nonlinear inertial navigation systems with multiple disturbances based on enhanced anti-disturbance filtering
• A hybrid observer for localization from noisy inertial data and sporadic position measurements

Uses Software

• CVX
• EuRoC

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