Nonlinear Observer with Time-Varying Gains for Inertial Navigation Aided by Satellite Reference Systems in Dynamic Positioning

被引：0
作者：
Bryne, Torleiv Haland [1 ]
Fossen, Thor I. [1 ]
Johansen, Tor A. [1 ]
机构：
[1] Norwegian Univ Sci & Technol, Dept Engn Cybernet, Ctr Autonomous Marine Operat & Syst AMOS, NO-7491 Trondheim, Norway
来源：
2014 22ND MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED) | 2014年
关键词：
ATTITUDE ESTIMATION; GYRO; GPS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The measurement quality of Global Navigation Satellites Systems (GNSS) during marine operations will vary over time. Inherently, GNSS quality changes should be handled when GNSS is utilized as aid in inertial navigation systems. In this paper we present an observer for estimating position, velocity and attitude with time-varying gains for high-performance sensor fusion based on GNSS quality and other quality indicators. The origin of the error dynamics is proven to be uniformly semiglobal exponentially stable. The concept is illustrated by simulating a vessel operating in dynamic positioning with GNSS and inertial sensors.
引用
收藏
页码：1353 / 1360
页数：8
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