Relaxation of initial error and noise bounds for stability of GPS/INS attitude estimation

Matthew Rhudy, Yu Gu, Marcello R. Napolitano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

Attitude estimation is an important problem for aircraft navigation and control which is commonly approached using nonlinear state estimation to fuse information from Global Positioning System (GPS) and inertial sensors. The Extended Kalman Filter (EKF) is a useful estimator for nonlinear systems; however the stability characteristics have not rigorously been proven with realistic assumptions. The stability analysis methods of previous authors were first implemented in order to obtain a baseline calculation of the requirements on the system's initial error and noise disturbances. Since these requirements were determined to be too strict for realistic application, modifications were applied to the stability analysis in order to relax these assumptions and prove the stability with more realistic assumptions. Experimental flight data is utilized to reinforce and demonstrate the theoretically derived results. Significant improvements in the initial error and noise bounds were achieved. The newly derived methods can also be applied to any other EKF application.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference 2012
StatePublished - Dec 1 2012
EventAIAA Guidance, Navigation, and Control Conference 2012 - Minneapolis, MN, United States
Duration: Aug 13 2012Aug 16 2012

Publication series

NameAIAA Guidance, Navigation, and Control Conference 2012

Other

OtherAIAA Guidance, Navigation, and Control Conference 2012
CountryUnited States
CityMinneapolis, MN
Period8/13/128/16/12

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Rhudy, M., Gu, Y., & Napolitano, M. R. (2012). Relaxation of initial error and noise bounds for stability of GPS/INS attitude estimation. In AIAA Guidance, Navigation, and Control Conference 2012 (AIAA Guidance, Navigation, and Control Conference 2012).