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Systems & Control Letters
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arXiv.org e-Print Archive
Preprint . 2004
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Systems & Control Letters
Article . 2005 . Peer-reviewed
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Article . 2005
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Article . 2004
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Discrete nonlinear observers for inertial navigation

descriptionPublicationkeyboard_double_arrow_right Article , Preprint 01 Sep 2005Embargo end date: 01 Jan 2004 English Publisher:Elsevier BVJournal:Systems & Control Letters, volume 54, pages 887-898 (issn: 0167-6911, Copyright policy )
Authors: Yong Zhao; Jean-Jacques E. Slotine;

doi: 10.1016/j.sysconle.2005.02.001 , 10.48550/arxiv.math/0403001

arXiv: math/0403001

Discrete nonlinear observers for inertial navigation

Abstract

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.

Related Organizations
Keywords

Observability, robot localisation, Automated systems (robots, etc.) in control theory, contraction theory, hybrid systems, Optimization and Control (math.OC), nonlinear observers, Control of mechanical systems, FOS: Mathematics, inertial navigation, head stabilization, Mathematics - Optimization and Control

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    popularity
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    influence
    This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
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    impulse
    This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
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selected citations
These citations are derived from selected sources.
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
22
Top 10%
Top 10%
Top 10%
Green
bronze