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

fYear

2011

fDate

June 29 2011-July 1 2011

Firstpage

5292

Lastpage

5299

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;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2011

Conference_Location

San Francisco, CA

ISSN

0743-1619

Print_ISBN

978-1-4577-0080-4

Type

conf

DOI

10.1109/ACC.2011.5991282

Filename

5991282