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dc.contributor.authorJohansen, Tor Arne
dc.contributor.authorHansen, Jakob Mahler
dc.contributor.authorFossen, Thor I.
dc.date.accessioned2017-12-12T14:52:37Z
dc.date.available2017-12-12T14:52:37Z
dc.date.created2017-06-27T13:17:42Z
dc.date.issued2017
dc.identifier.issn0022-0434
dc.identifier.urihttp://hdl.handle.net/11250/2470887
dc.description.abstractA modular nonlinear observer for inertial navigation aided by pseudo-range measurements is designed and analyzed. The attitude observer is based on a recent nonlinear complementary filter that uses magnetometer and accelerometer vector measurements to correct the quaternion attitude estimate driven by gyro measurements, including gyro bias estimation. A tightly integrated translational motion observer is driven by accelerometer measurements, employs the attitude estimates, and makes corrections using the pseudo-range and range-rate measurements. It estimates position, range bias errors, velocity and specific force in an earth-fixed Cartesian coordinate frame, where the specific force estimate is used as a reference vector for the accelerometer measurements in the attitude observer. The exponential stability of the feedback interconnection of the two observers is analyzed and found to have a semiglobal region of attraction with respect to the attitude observer initialization and local region of attraction with respect to translational motion observer initialization. The latter is due to linearization of the range measurement equations that is underlying the selection of injection gains by solving a Riccati equation. In typical applications, the pseudo-range equations admit an explicit algebraic solution that can be easily computed and used to accurately initialize the position and velocity estimates. Hence, the limited region of attraction is not seen as a practical limitation of the approach for many applications. Advantages of the proposed nonlinear observer are low computational complexity and a solid theoretical foundation.nb_NO
dc.language.isoengnb_NO
dc.publisherAmerican Society of Mechanical Engineers (ASME)nb_NO
dc.titleNonlinear Observer for Tightly Integrated Inertial Navigation Aided by Pseudo-Range Measurementsnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.description.versionacceptedVersionnb_NO
dc.source.volume139nb_NO
dc.source.journalJournal of Dynamic Systems Measurement, and Controlnb_NO
dc.source.issue1nb_NO
dc.identifier.doi10.1115/1.4034496
dc.identifier.cristin1479184
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.relation.projectNorges forskningsråd: 221666nb_NO
dc.description.localcodeThis article will not be available due to copyright restrictions (c) 2016 by ASMEnb_NO
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode1


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