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{\o}lberg},
  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 to correct for unknown wave speed, i.e. propagation speed in the medium. 

Citations

Publications citing this paper.
SHOWING 1-10 OF 14 CITATIONS

Experimental validation of three-stage position filter based on long baseline measurements with unknown wave speed

  • 2017 IEEE Conference on Control Technology and Applications (CCTA)
  • 2017
VIEW 7 EXCERPTS
CITES METHODS & BACKGROUND

Enhanced Hydroacoustic Range Robustness of Three-Stage Position Filter based on Long Baseline Measurements with Unknown Wave Speed

Erlend K. Jorgensen, Tor Arne Johansen, Ingrid Schjølberg
  • 2016
VIEW 15 EXCERPTS
CITES METHODS, BACKGROUND & RESULTS
HIGHLY INFLUENCED

Attitude and Rate Sensor Bias Estimation for Underwater Vehicles

  • 2018 26th Mediterranean Conference on Control and Automation (MED)
  • 2018
VIEW 1 EXCERPT
CITES METHODS

References

Publications referenced by this paper.
SHOWING 1-10 OF 12 REFERENCES

Algebraic Solution of the GPS Equations

Stephen Bancroft, ”An
  • IEEE Trans. on Aerospace and Electronic Systems,
  • 1985
VIEW 5 EXCERPTS
HIGHLY INFLUENTIAL

On Two-Stage Estimation using Global Nonlinear Observer and Linearized Kalman-Filter”, submitted, http://folk.ntnu.no/torarnj/nlo kalman.pdf

Tor A. Johansen, Thor I. Fossen
  • 2015
VIEW 3 EXCERPTS

A Non - linear Observer for Integration of GNSS and IMU Measurements with Gyro Bias Estimation ”

Håvard Fjær Grip, Thor I. Fossen, Tor A. Johansen, Ali Saberi
  • 2012