Nonlinear Observer for Attitude, Position, and Velocity: Theory and Experiments

Authored by: Håvard Fjær Grip , Thor I. Fossen , Tor A. Johansen , Ali Saberi

Multisensor Attitude Estimation

Print publication date:  August  2016
Online publication date:  November  2016

Print ISBN: 9781498745710
eBook ISBN: 9781315368795
Adobe ISBN:


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Strapdown inertial navigation is a method of estimating position, velocity, and attitude (PVA) by integrating accelerometer and rate gyro measurements in a dead-reckoning fashion. Inertial navigation systems (INSs) can be highly accurate in the short term, but errors accumulate over time, leading to poor long-term accuracy. For this reason, INSs are often aided by absolute reference information, obtained regularly or intermittently from other sources, to help correct the INS estimates and determine sources of error, such as sensor bias (see, e.g., [4,6]).

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