A nonlinear observer for integration of GNSS and IMU measurements with gyro bias estimation

@article{Grip2012ANO,
  title={A nonlinear observer for integration of GNSS and IMU measurements with gyro bias estimation},
  author={H{\aa}vard Fj{\ae}r Grip and Thor I. Fossero and Tor Arne Johansen and Ali Saberi},
  journal={2012 American Control Conference (ACC)},
  year={2012},
  pages={4607-4612}
}
We present an observer for estimating position, velocity, attitude, and gyro bias, by using inertial measurements of accelerations and angular velocities, magnetometer measurements, and satellite-based measurements of position and (optionally) velocity. The design proceeds in two stages: in Stage I, an attitude and gyro bias estimator is designed based on an unmeasured signal. In Stage II, that design is recovered using measured signals only, by combining it with a position and velocity… CONTINUE READING
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