دورية أكاديمية
A Nonlinear Observer for Integration of GPS and Inertial Navigation Systems
| العنوان: | A Nonlinear Observer for Integration of GPS and Inertial Navigation Systems |
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| المؤلفون: | Bjørnar Vik, Thor Inge Fossen |
| المصدر: | Modeling, Identification and Control, Vol 21, Iss 4, Pp 192-208 (2000) |
| بيانات النشر: | Norwegian Society of Automatic Control, 2000. |
| سنة النشر: | 2000 |
| المجموعة: | LCC:Electronic computers. Computer science |
| مصطلحات موضوعية: | Electronic computers. Computer science, QA75.5-76.95 |
| الوصف: | GPS and INS have complementary properties and they are therefore well suited for integration. The integrated solution offers better long term accuracy than a stand-alone INS, and better integrity, availability and continuity than a stand-alone GPS receiver, making it suitable for demanding applications. The integrated filter is nonlinear both in state and measurements, and the extended Kalman-filter has been used with good results, but it has not been proven globally stable, and it is also computationally intensive, especially within a direct integration architecture. In this work a nonlinear observer suitable for direct integration is presented. Global exponent ial stability of the origin of the combined attitude and velocity error systems is proven along with robust stability in the presence of noise and unmodelled dynamics. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 0332-7353 1890-1328 |
| Relation: | http://www.mic-journal.no/PDF/2000/MIC-2000-4-1.pdf; https://doaj.org/toc/0332-7353; https://doaj.org/toc/1890-1328 |
| DOI: | 10.4173/mic.2000.4.1 |
| URL الوصول: | https://doaj.org/article/9dcbf1148680451681f27d406ef8bb02 |
| رقم الأكسشن: | edsdoj.9dcbf1148680451681f27d406ef8bb02 |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 03327353 18901328 |
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| DOI: | 10.4173/mic.2000.4.1 |