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dc.contributor.authorJørgensen, Erlend Kvinge
dc.contributor.authorFossen, Thor I.
dc.contributor.authorSchjølberg, Ingrid
dc.contributor.authorEsperanca, Paulo TT
dc.date.accessioned2020-04-30T06:37:45Z
dc.date.available2020-04-30T06:37:45Z
dc.date.created2019-01-15T14:35:52Z
dc.date.issued2018
dc.identifier.citationControl Engineering Practice. 2018, 73 112-123.en_US
dc.identifier.issn0967-0661
dc.identifier.urihttps://hdl.handle.net/11250/2652990
dc.description.abstractThis paper considers the problem of constructing a filter for estimating attitude and rate-sensor bias, that has both proven stability and close-to-optimal performance with respect to noise. The filter is based on measuring the difference in time of arrival for signals sent from three or more known, fixed positions to two or more receivers on the vehicle. An inertial measurement unit is also used, both rate-sensor and accelerometer measurements, and a position estimate is needed, generated from depth and time of arrival measurements. The vectors between receivers on the vehicle are assumed to be known in the body frame, and are calculated in the inertial frame through an algebraic transformation. These vectors are used as input for a non-linear observer along with rate-sensor and accelerometer data, estimating Euler angles and rate-sensor bias. These estimates are used as a linearization point for a Linearized Kalman Filter, taking the full non-linear system into account. Two experiments are run, and the filter is compared to an Extended Kalman Filter, and a non-implementable Linearized Kalman Filter using the true state as linearization point.en_US
dc.language.isoengen_US
dc.publisherElsevieren_US
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/deed.no*
dc.titleExperimental validation of attitude and rate-sensor bias filter using range-difference measurementsen_US
dc.typePeer revieweden_US
dc.typeJournal articleen_US
dc.description.versionacceptedVersionen_US
dc.source.pagenumber112-123en_US
dc.source.volume73en_US
dc.source.journalControl Engineering Practiceen_US
dc.identifier.doi10.1016/j.conengprac.2018.01.002
dc.identifier.cristin1657382
dc.relation.projectNorges forskningsråd: 223254en_US
dc.description.localcode© 2018. This is the authors’ accepted and refereed manuscript to the article. Locked until 2.02.2020 due to copyright restrictions. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/en_US
cristin.ispublishedtrue
cristin.fulltextoriginal
cristin.fulltextpostprint
cristin.qualitycode1


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Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal
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