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Nonlinear observer design for GNSS-aided inertial navigation systems with time-delayed GNSS measurements

Hansen, Jakob Mahler; Fossen, Thor I.; Johansen, Tor Arne
Journal article, Peer reviewed
Published version
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jrnl.pdf (Locked)
URI
https://hdl.handle.net/11250/2726062
Date
2017
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  • Institutt for teknisk kybernetikk [2251]
  • Publikasjoner fra CRIStin - NTNU [21000]
Original version
Control Engineering Practice. 2017, 60 39-50.   10.1016/j.conengprac.2016.11.016
Abstract
Global navigation satellite system (GNSS) receivers suffer from an internal time-delay of up to several hundred milliseconds leading to a degeneration of position accuracy in high-dynamic systems. With the increasing interest in GNSS navigation, handling of time-delays will be vital in high accuracy applications with high velocity and fast dynamics. This paper presents a nonlinear observer structure for estimating position, linear velocity, and attitude (PVA) as well as accelerometer and gyro biases, using inertial measurements and time-delayed GNSS measurements. The observer structure consists of four parts; (a) attitude and gyro bias estimation, (b) time-delayed translational motion observer estimating position and linear velocity, (c) input delays for inertial and magnetometer measurements, and (d) a faster than real-time simulator. The delayed PVA and gyro bias estimates are computed using a uniformly semiglobally exponentially stable (USGES) nonlinear observer. The high-rate inertial measurements are delayed and synchronized with the GNSS measurements in the state observer. The fast simulator integrates the inertial measurements from the delayed state estimate to provide a state estimate at current time. The sensor measurements are carefully synchronized and the estimation procedure for the GNSS receiver delay is discussed. Experimental data from a small aircraft are used to validate the results.
Publisher
Elsevier
Journal
Control Engineering Practice

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