Browsing NTNU Open by Author "Rohal-Ilkiv, B"
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Moving horizon estimation for integrated navigation filtering
Polóni, Tomáš; Rohal-Ilkiv, B; Johansen, Tor Arne (Journal article; Peer reviewed, 2015)This paper presents a nonlinear numerical observer for accurate position, velocity and attitude (PVA) estimation including the accelerometer bias and gyro bias estimation. The Moving Horizon Observer (MHO) processes the ... -
Nonlinear State and Parameter Estimation using Discrete-Time Double Kalman Filter
Abdollahpouri, Mohammad; Haring, Mark; Johansen, Tor Arne; takacs, gergely; Rohal-Ilkiv, B (Journal article; Peer reviewed, 2017)Dealing with nonlinear dynamics in conventional estimation methods like the extended Kalman filter (EKF) is challenging, since they are not guaranteed to have global convergence, and their instability can arise by selecting ...