Nonlinear state estimation for inertial navigation systems with intermittent measurements
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Publication:2208564
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.
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Cited in
(12)- A nonlinear navigation observer using IMU and generic position information
- A nonlinear position and attitude observer on SE(3) using landmark measurements
- Attitude estimation with intermittent measurements
- Discrete nonlinear observers for inertial navigation
- An innovative estimation method with own-ship estimator for an allaccelerometer-type inertial navigation system
- Nonlinear speed estimation of a GPS-free UAV
- Initial alignment for nonlinear inertial navigation systems with multiple disturbances based on enhanced anti-disturbance filtering
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