惯性导航系统非线性状态估计
Nonlinear State Estimation for Inertial Navigation Systems With Intermittent Measurements
摘要：
研究了三维空间中航行器的姿态、位置和线速度的同时估计问题。我们提出了两种类型的混合非线性观测器，使用连续的角速度和线加速度测量以及间歇性地标位置测量。第一种类型依赖于基于无限维优化的固定增益设计方法，而第二种类型依赖于基于连续-离散Riccati方程的可变增益设计方法。对于每一种情况下，我们提供了两个不同的观察者和没有估计的重力矢量。所提出的观察员被证明是指数稳定的一个大的吸引区域。仿真和实验结果表明，所提出的观测器的性能。
英文摘要：
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.
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