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Observability analysis of an inertial navigation system with stationary updates | IEEE Conference Publication | IEEE Xplore

Observability analysis of an inertial navigation system with stationary updates


Abstract:

Stationary measurement updates offer the possibility of containing errors in velocity, biases and attitude even during periods of GPS unavailability, given the informatio...Show More

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.
Date of Conference: 29 June 2011 - 01 July 2011
Date Added to IEEE Xplore: 18 August 2011
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Conference Location: San Francisco, CA, USA

References

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