Discrete Nonlinear Observers for Inertial Navigation

Details Discrete Nonlinear Observers for Inertial Navigation Discrete Nonlinear Observers for Inertial Navigation

2004-02-27

arxiv.org/abs/math/0403001v1

Mathematics

Optimization and Control

Scientific paper

We derive an exact deterministic nonlinear observer to compute the continuous state of an inertial navigation system based on partial discrete measurements, the so-called strapdown problem. Nonlinear contraction is used as the main analysis tool, and the hierarchical structure of the system physics is sytematically exploited. The paper also discusses the use of nonlinear measurements, such as distances to time-varying reference points.

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