DocumentCode
1754828
Title
PMI-Based Nonlinear 
Estimation of Unknown Sensor Error for INS/GPS Integrated System
Author
Maiying Zhong ; Dingfei Guo ; Jia Guo
Author_Institution
Sch. of Instrum. Sci. & Opto-Electron. Eng., Beihang Univ., Beijing, China
Volume
15
Issue
5
fYear
2015
fDate
42125
Firstpage
2785
Lastpage
2794
Abstract
This paper deals with the problem of robust estimation for time-varying sensor errors of inertial navigation system (INS) and global positioning system integration. A nonlinear strapdown INS error model is established to describe the behavior of the the integrated system. Under assumptions of time-varying bias and noise being L2 norm bounded, a robust H∞ nonlinear estimator by Krein space theory is proposed and, based on this, a proportional and multi-integral H∞ estimator is developed for simultaneous estimation of the navigation states and sensor errors. Finally, a flight experiment is implemented to show the effectiveness of the proposed method.
Keywords
Global Positioning System; Kalman filters; inertial navigation; nonlinear estimation; state estimation; Global Positioning System; INS-GPS integrated system; Kalman filtering; Krein space theory; L2 norm bounded; PMI-based nonlinear H∞ estimation; inertial navigation system; multiintegral H∞ estimator; navigation state estimation; nonlinear strapdown INS error model; proportional H∞ estimator; robust time-varying sensor error estimation problem; time-varying bias; time-varying nois; unknown sensor error; Estimation; Global Positioning System; Noise; Sensor systems; Temperature sensors; Vectors; INS/GPS integrated system; PMI; Sensor error estimation; nonlinear ${H_infty }$ estimator; nonlinear H∞ estimator; sensor error estimation;
fLanguage
English
Journal_Title
Sensors Journal, IEEE
Publisher
ieee
ISSN
1530-437X
Type
jour
DOI
10.1109/JSEN.2014.2379719
Filename
6983549
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