Title :
Nonlinear observer with time-varying gains for inertial navigation aided by satellite reference systems in dynamic positioning
Author :
Bryne, Torleiv Haland ; Fossen, Thor I. ; Johansen, Tor Arne
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
The measurement quality of Global Navigation Satellites Systems (GNSS) during marine operations will vary over time. Inherently, GNSS quality changes should be handled when GNSS is utilized as aid in inertial navigation systems. In this paper we present an observer for estimating position, velocity and attitude with time-varying gains for high-performance sensor fusion based on GNSS quality and other quality indicators. The origin of the error dynamics is proven to be uniformly semiglobal exponentially stable. The concept is illustrated by simulating a vessel operating in dynamic positioning with GNSS and inertial sensors.
Keywords :
marine vehicles; nonlinear control systems; observers; position control; satellite navigation; time-varying systems; GNSS quality; Global Navigation Satellites Systems; dynamic positioning; error dynamics; exponential stability; high-performance sensor fusion; inertial navigation; marine operations; nonlinear observer; satellite reference systems; time-varying gains; Force; Global Positioning System; Observers; Position measurement; Quaternions; Vectors;
Conference_Titel :
Control and Automation (MED), 2014 22nd Mediterranean Conference of
Conference_Location :
Palermo
Print_ISBN :
978-1-4799-5900-6
DOI :
10.1109/MED.2014.6961564
