DocumentCode
558879
Title
Aided navigation using invariant state error
Author
Seong, Sang Man
Author_Institution
Sch. of Mechatron. Eng., Korea Univ. of Technol. & Educ., Cheonan, South Korea
fYear
2011
fDate
26-29 Oct. 2011
Firstpage
1738
Lastpage
1739
Abstract
Aided navigation using invariant state error is proposed. The proposed estimation method is a linearized version of the non-linear invariant observer. It uses an error model for a navigation system composed invariant state error. To estimate the error, the EKF is applied. This approach makes it easier to find the filter gain compared to non-linear invariant observer.
Keywords
Kalman filters; error analysis; nonlinear filters; EKF; aided navigation; error estimation; error model; estimation method; extended Kalman filter; invariant state error; nonlinear invariant observer; Global Positioning System; Kalman filters; Observers; Quaternions; Vectors; Aided navigation; EKF; invariant observer; invariant state error;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation and Systems (ICCAS), 2011 11th International Conference on
Conference_Location
Gyeonggi-do
ISSN
2093-7121
Print_ISBN
978-1-4577-0835-0
Type
conf
Filename
6106215
Link To Document