论文标题
具有间歇性测量的惯性导航系统的非线性状态估计
Nonlinear State Estimation for Inertial Navigation Systems With Intermittent Measurements
论文作者
论文摘要
本文考虑了在三维空间中导航的车辆的态度，位置和线性速度的同时估算的问题。我们建议使用连续的角速度和线性加速度测量以及间歇性地标的测量值提出两种类型的混合非线性观察者。第一种类型依赖于基于无限二维优化的固定增益设计方法，而第二种方法依赖于基于连续的滴定riccati方程的可变增益设计方法。对于每种情况，我们都会提供两个不同的观察者，并没有估计重力载体。所提出的观察者显示出具有大的吸引力领域的指数稳定。提出了仿真和实验结果，以说明所提出的观察者的性能。
This paper considers the problem of simultaneous estimation of the attitude, position and linear velocity for vehicles navigating in a three-dimensional space. We propose two types of hybrid nonlinear observers using continuous angular velocity and linear acceleration measurements as well as intermittent landmark position measurements. The first type relies on a fixed-gain design approach based on an infinite-dimensional optimization, while the second one relies on a variable-gain design approach based on a continuous-discrete Riccati equation. For each case, we provide two different observers with and without the estimation of the gravity vector. The proposed observers are shown to be exponentially stable with a large domain of attraction. Simulation and experimental results are presented to illustrate the performance of the proposed observers.
