dc.contributor.author | Hansen, Jakob Mahler | |
dc.contributor.author | Fossen, Thor I. | |
dc.contributor.author | Johansen, Tor Arne | |
dc.date.accessioned | 2021-02-04T06:49:42Z | |
dc.date.available | 2021-02-04T06:49:42Z | |
dc.date.created | 2017-06-14T16:36:59Z | |
dc.date.issued | 2017 | |
dc.identifier.citation | Control Engineering Practice. 2017, 60 39-50. | en_US |
dc.identifier.issn | 0967-0661 | |
dc.identifier.uri | https://hdl.handle.net/11250/2726062 | |
dc.description.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. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Elsevier | en_US |
dc.title | Nonlinear observer design for GNSS-aided inertial navigation systems with time-delayed GNSS measurements | en_US |
dc.type | Journal article | en_US |
dc.type | Peer reviewed | en_US |
dc.description.version | publishedVersion | en_US |
dc.source.pagenumber | 39-50 | en_US |
dc.source.volume | 60 | en_US |
dc.source.journal | Control Engineering Practice | en_US |
dc.identifier.doi | 10.1016/j.conengprac.2016.11.016 | |
dc.identifier.cristin | 1476157 | |
dc.relation.project | Norges forskningsråd: 221666 | en_US |
dc.relation.project | Norges forskningsråd: 223254 | en_US |
dc.description.localcode | This article will not be available due to copyright restrictions (c) 2016 by Elsevier. | en_US |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |