This paper considers the problem of designing an observer for navigation and localization of inertial systems. Since the measurement systems used in this field have a low update rate with respect to the control algorithm, the design of a suitable observer with sampled measurements is required. Here a hybrid non-linear observer is proposed, combining two different observers with different characteristics. A theoretical treatment is given in order to prove the convergence of the observer and it will be contextualized in the framework of the hybrid systems, providing an elegant setting for the proposed solution. Finally experimental results show the feasibility of the proposed observer and the good behaviors in terms of estimation error that can be achieved.

Alonge, F., D'Ippolito, F., Gargano, A., Sferlazza, A. (2016). Hybrid nonlinear observer for Inertial Navigation. In 2016 IEEE 25th International Symposium on Industrial Electronics (ISIE) (pp.381-386). Institute of Electrical and Electronics Engineers Inc. [10.1109/ISIE.2016.7744920].

Hybrid nonlinear observer for Inertial Navigation

ALONGE, Francesco;D'IPPOLITO, Filippo;SFERLAZZA, Antonino
2016-01-01

Abstract

This paper considers the problem of designing an observer for navigation and localization of inertial systems. Since the measurement systems used in this field have a low update rate with respect to the control algorithm, the design of a suitable observer with sampled measurements is required. Here a hybrid non-linear observer is proposed, combining two different observers with different characteristics. A theoretical treatment is given in order to prove the convergence of the observer and it will be contextualized in the framework of the hybrid systems, providing an elegant setting for the proposed solution. Finally experimental results show the feasibility of the proposed observer and the good behaviors in terms of estimation error that can be achieved.
Settore ING-INF/04 - Automatica
giu-2016
25th IEEE International Symposium on Industrial Electronics, ISIE 2016
Santa Clara Convention Center, usa
8-10 June 2016
feb-2016
2016
6
Online
https://ieeexplore.ieee.org/document/7744920
Alonge, F., D'Ippolito, F., Gargano, A., Sferlazza, A. (2016). Hybrid nonlinear observer for Inertial Navigation. In 2016 IEEE 25th International Symposium on Industrial Electronics (ISIE) (pp.381-386). Institute of Electrical and Electronics Engineers Inc. [10.1109/ISIE.2016.7744920].
Proceedings (atti dei congressi)
Alonge, F.; D'Ippolito, F.; Gargano, A.; Sferlazza, A.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10447/218195
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