Discrete nonlinear observers for inertial navigation |
| |
| Authors: | Yong Zhao Jean-Jacques E. Slotine |
| |
| Affiliation: | Nonlinear Systems Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139, USA |
| |
| Abstract: | We derive an exact deterministic nonlinear observer to compute the continuous state of an inertial navigation system based on partial discrete measurements, the so-called strap-down problem. Nonlinear contraction is used as the main analysis tool, and the hierarchical structure of the system physics is systematically exploited. The paper also discusses the use of nonlinear measurements, such as distances to time-varying reference points. |
| |
| Keywords: | Inertial navigation Robot localisation Head stabilization Nonlinear observers Hybrid systems Contraction theory |
| 本文献已被 ScienceDirect 等数据库收录！ |
