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dc.contributor.authorBryne, Torleiv Håland
dc.contributor.authorFossen, Thor I.
dc.contributor.authorJohansen, Tor Arne
dc.date.accessioned2014-12-15T02:46:59Z
dc.date.accessioned2016-06-20T11:29:46Z
dc.date.available2014-12-15T02:46:59Z
dc.date.available2016-06-20T11:29:46Z
dc.date.issued2014
dc.identifier.citationIEEE Mediterranean Conference on Control & Automation 2014nb_NO
dc.identifier.issn1934-1776
dc.identifier.urihttp://hdl.handle.net/11250/2393246
dc.description.abstractThe 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.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEEnb_NO
dc.titleNonlinear Observer with Time-Varying Gains for Inertial Navigation Aided by Satellite Reference Systems in Dynamic Positioningnb_NO
dc.typeConference objectnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.date.updated2014-12-15T02:47:00Z
dc.source.pagenumber1353 - 1360nb_NO
dc.identifier.doi10.1109/MED.2014.6961564
dc.identifier.cristin1132171
dc.description.localcodePreprint version. © IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.nb_NO


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