Nonlinear Estimation for Position-Aided Inertial Navigation Systems
Systems and Control
2021-03-26 v1 Systems and Control
Optimization and Control
Abstract
In this work we solve the position-aided 3D navigation problem using a nonlinear estimation scheme. More precisely, we propose a nonlinear observer to estimate the full state of the vehicle (position, velocity, orientation and gyro bias) from IMU and position measurements. The proposed observer does not introduce additional auxiliary states and is shown to guarantee semi-global exponential stability without any assumption on the acceleration of the vehicle. The performance of the observer is shown, through simulation, to overcome the state-of-the-art approach that assumes negligible accelerations.
Keywords
Cite
@article{arxiv.2103.13955,
title = {Nonlinear Estimation for Position-Aided Inertial Navigation Systems},
author = {Soulaimane Berkane and Abdelhamid Tayebi},
journal= {arXiv preprint arXiv:2103.13955},
year = {2021}
}
Comments
arXiv admin note: text overlap with arXiv:2006.14056