Nonlinear Observer for Tightly Coupled Integration of Pseudorange and Inertial Measurements

Abstract

A global nonlinear algebraic transform of nonlinear pseudorange measurement equations enables navigation solutions based on a globally valid linear time-varying measurement model. Using an interconnection of a nonlinear attitude observer and a translational motion observer based on pseudorange and range-range measurements, a tightly coupled integrated aided… (More)
DOI: 10.1109/TCST.2016.2524564

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@article{Johansen2016NonlinearOF, title={Nonlinear Observer for Tightly Coupled Integration of Pseudorange and Inertial Measurements}, author={Tor Arne Johansen and Thor I. Fossen}, journal={IEEE Transactions on Control Systems Technology}, year={2016}, volume={24}, pages={2199-2206} }