| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 10413036 | Systems & Control Letters | 2005 | 12 Pages |
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 strap-down problem. Nonlinear contraction is used as the main analysis tool, and the hierarchical structure of the system physics is systematically exploited. The paper also discusses the use of nonlinear measurements, such as distances to time-varying reference points.
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Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Yong Zhao, Jean-Jacques E. Slotine,