Three-stage filter for position and velocity estimation from long baseline measurements with unknown wave speed

@article{Stovner2016ThreestageFF,
  title={Three-stage filter for position and velocity estimation from long baseline measurements with unknown wave speed},
  author={Bard B. Stovner and Tor Arne Johansen and Thor I. Fossen and Ingrid Schj\olberg},
  journal={2016 American Control Conference (ACC)},
  year={2016},
  pages={4532-4538}
}
In this paper, an inertial navigation system (INS) aided by a long baseline (LBL) ranging system is presented and shown to have globally exponentially stable (GES) error dynamics. It uses a novel formulation for relating pseudo-range and pseudo-range-rate measurements linearly to position, velocity, and a multiplicative bias parameter, the latter parameter… CONTINUE READING