Aided navigation using invariant state error

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 easi...

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Bibliographic Details
Published in2011 11th International Conference on Control, Automation and Systems pp. 1738 - 1739
Main Author Sang Man Seong
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2011
Subjects
Aided navigation
EKF
Global Positioning System
invariant observer
invariant state error
Kalman filters
Observers
Quaternions
Vectors
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Summary: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.
ISBN:1457708353
9781457708350
ISSN:2093-7121