Invariant Observer Design for a Helicopter UAV Aided Inertial Navigation System

The invariant observer is a recently introduced constructive nonlinear design method for symmetry-possessing systems such as the magnetometer-plus-global positioning system (GPS)-aided inertial navigation system (INS) example considered in this paper. The resulting observer guarantees a simplified f...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on control systems technology 2013-05, Vol.21 (3), p.791-806
Main Authors: Barczyk, M., Lynch, A. F.
Format: Article
Language:English
Subjects:
Design engineering
Dynamical systems
Global Positioning System
Helicopters
Inertial navigation
Invariants
Kalman filters (KFs)
Magnetometers
Manifolds
Mathematical model
Nonlinear dynamical systems
Nonlinear dynamics
nonlinear systems
Nonlinearity
Observers
sensor fusion
Unmanned aerial vehicles
unmanned aerial vehicles (UAVs)
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The invariant observer is a recently introduced constructive nonlinear design method for symmetry-possessing systems such as the magnetometer-plus-global positioning system (GPS)-aided inertial navigation system (INS) example considered in this paper. The resulting observer guarantees a simplified form of the nonlinear estimation error dynamics, which can be stabilized by a proper choice of observer gains using a nonlinear analysis. A systematic approach to this step is the invariant Extended Kalman Filter (EKF), which is modified from its originally proposed form and applied to the aided INS example to obtain the observer gains. The resulting invariant observer is implemented onboard an outdoor helicopter unmanned aerial vehicle platform and successfully validated in experiment and demonstrates an improvement in performance over a conventional (non-invariant) EKF design.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2012.2195495