Title :
Aided navigation using invariant state error
Author_Institution :
Sch. of Mechatron. Eng., Korea Univ. of Technol. & Educ., Cheonan, South Korea
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;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2011 11th International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4577-0835-0
