Hybrid nonlinear observer for Inertial Navigation

Research output: Contribution to conferenceOtherpeer-review

4 Citations (Scopus)

Abstract

This paper considers the problem of designing an observer for navigation and localization of inertial systems. Since the measurement systems used in this field have a low update rate with respect to the control algorithm, the design of a suitable observer with sampled measurements is required. Here a hybrid non-linear observer is proposed, combining two different observers with different characteristics. A theoretical treatment is given in order to prove the convergence of the observer and it will be contextualized in the framework of the hybrid systems, providing an elegant setting for the proposed solution. Finally experimental results show the feasibility of the proposed observer and the good behaviors in terms of estimation error that can be achieved.
Original languageEnglish
Pages381-386
Number of pages6
Publication statusPublished - 2016

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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