Title :
Observability analysis of an inertial navigation system with stationary updates
Author :
Ramanandan, A. ; Chen, A. ; Farrell, J.A.
Author_Institution :
Dept. of Electr. Eng., Univ. of California, Riverside, CA, USA
fDate :
June 29 2011-July 1 2011
Abstract :
Stationary measurement updates offer the possibility of containing errors in velocity, biases and attitude even during periods of GPS unavailability, given the information that the rover is not moving. Automated detection of appropriate instances of stationarity is possible, given a recently proposed frequency domain method based on IMU data. In this paper we focus on analytical and numerical evaluation of observability of error states of an INS aided with stationary updates. The null space of the continuous time observability gramian is evaluated for various motion scenarios typically occurring in a land vehicle.
Keywords :
continuous time systems; frequency-domain analysis; inertial navigation; observability; vehicles; IMU data; continuous time observability gramian; frequency domain method; inertial navigation system; land vehicle; numerical evaluation; rover; stationary measurement updates; Differential equations; Global Positioning System; Gyroscopes; Null space; Observability; Velocity measurement;
Conference_Titel :
American Control Conference (ACC), 2011
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-4577-0080-4
DOI :
10.1109/ACC.2011.5991282
