Validation and Experimental Testing of Observers for Robust GNSS-Aided Inertial Navigation
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00302461" target="_blank" >RIV/68407700:21230/16:00302461 - isvavai.cz</a>
Result on the web
<a href="http://www.intechopen.com/books/recent-advances-in-robotic-systems/validation-and-experimental-testing-of-observers-for-robust-gnss-aided-inertial-navigation" target="_blank" >http://www.intechopen.com/books/recent-advances-in-robotic-systems/validation-and-experimental-testing-of-observers-for-robust-gnss-aided-inertial-navigation</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.5772/63575" target="_blank" >10.5772/63575</a>
Alternative languages
Result language
angličtina
Original language name
Validation and Experimental Testing of Observers for Robust GNSS-Aided Inertial Navigation
Original language description
This chapter is the study of state estimators for robust navigation. Navigation of vehicles is a vast field with multiple decades of research. The main aim is to estimate position, linear velocity, and attitude (PVA) under all dynamics, motions, and conditions via data fusion. The state estimation problem will be considered from two different perspectives using the same kinematic model. First, the extended Kalman filter (EKF) will be reviewed, as an example of a stochastic approach; second, a recent nonlinear observer will be considered as a deterministic case. A comparative study of strapdown inertial navigation methods for estimating PVA of aerial vehicles fusing inertial sensors with global navigation satellite system (GNSS)-based positioning will be presented. The focus will be on the loosely coupled integration methods and performance analysis to compare these methods in terms of their stability, robustness to vibrations, and disturbances in measurements.
Czech name
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Czech description
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Classification
Type
C - Chapter in a specialist book
CEP classification
JW - Navigation, connection, detection and countermeasure
OECD FORD branch
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Result continuities
Project
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Continuities
V - Vyzkumna aktivita podporovana z jinych verejnych zdroju
Others
Publication year
2016
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Book/collection name
Recent Advances in Robotic Systems
ISBN
978-953-51-2570-9
Number of pages of the result
284
Pages from-to
1-284
Number of pages of the book
292
Publisher name
InTech - Open Access Company (InTech Europe)
Place of publication
Rijeka
UT code for WoS chapter
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