Nonlinear Observer with Time-Varying Gains for Inertial Navigation Aided by Satellite Reference Systems in Dynamic Positioning
Conference object, Journal article, Peer reviewed

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Date
2014Metadata
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IEEE Mediterranean Conference on Control & Automation 2014 10.1109/MED.2014.6961564Abstract
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 highperformance
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.