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Loose and Tight GNSS/INS Integration using Nonlinear Observers
13 May 2016 10:00-11:30
Integration of inertial data with global position measurements is the topic of thorough research, with the Extended Kalman Filter (EKF) as a widely used solution for vehicle navigation. In recent years, nonlinear observers have been developed. The advantages of nonlinear observers compared to the EKF are a reduced computational footprint and proven stability results. This presentation consists of three parts:
Introduction to a recent loosely coupled nonlinear observer estimating position, velocity and attitude (PVA) in a modular observer structure.
Nonlinear observer for estimating PVA in a GNSS/INS integration scheme with time-delayed position measurements
Tight integration using a dual receiver configuration similar to a real-time-kinematic position estimation setup
Simulations and experimental results from a fixed-wing UAV will also be presented.
Bioskectch: Jakob M. Hansen received his M.Sc. in Electrical Engineering from the Technical University of Denmark (DTU) in 2013. Presently he is pursuing his PhD degree at the Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU). The main field of research is tightly coupled INS/GNSS integration in dual receiver configuration, particularly with aviation applications.
- Place
- T2:A3-318
- Organizer
- katedra měření, FEL
- Contact person
- doc. Ing. Jan Roháč, Ph.D., xrohac@fel.cvut.cz
- More information
- http://measure.feld.cvut.cz/node/3684