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Design and implementation of a model predictive observer for AHRS / Jafar Keighobadi in GPS solutions, vol 22 n° 1 (January 2018)  

Public [article]  inGPS solutions > vol 22 n° 1 (January 2018) Titre : Design and implementation of a model predictive observer for AHRS Type de document : Article/Communication Auteurs : Jafar Keighobadi, Auteur ; Hamid Vosoughi, Auteur ; Javad Faraji, Auteur Année de publication : 2018 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Navigation et positionnement [Termes IGN] angle d'Euler [Termes IGN] attitude and heading reference system AHRS [Termes IGN] erreur instrumentale [Termes IGN] erreur systématique [Termes IGN] estimateur [Termes IGN] filtre de Kalman [Termes IGN] GPS-INS [Termes IGN] microsystème électromécanique [Termes IGN] véhicule Résumé : (auteur) A GPS-aided Inertial Navigation System (GAINS) is used to determine the orientation‚ position and velocity of ground and aerial vehicles. The data measured by Inertial Navigation System (INS) and GPS are commonly integrated through an Extended Kalman Filter (EKF). Since the EKF requires linearized models and complete knowledge of predefined stochastic noises‚ the estimation performance of this filter is attenuated by unmodeled nonlinearity and bias uncertainties of MEMS inertial sensors. The Attitude Heading Reference System (AHRS) is applied based on the quaternion and Euler angles methods. A moving horizon-based estimator such as Model Predictive Observer (MPO) enables us to approximate and estimate linear systems affected by unknown uncertainties. The main objective of this research is to present a new MPO method based on the duality principle between controller and observer of dynamic systems and its implementation in AHRS mode of a low-cost INS aided by a GPS. Asymptotic stability of the proposed MPO is proven by applying Lyapunov’s direct method. The field test of a GAINS is performed by a ground vehicle to assess the long-time performance of the MPO method compared with the EKF. Both the EKF and MPO estimators are applied in AHRS mode of the MEMS GAINS for the purpose of real-time performance comparison. Furthermore‚ we use flight test data of the GAINS for evaluation of the estimation filters. The proposed MPO based on both the Euler angles and quaternion methods yields better estimation performances compared to the classic EKF. Numéro de notice : A2018-017 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.1007/s10291-017-0696-4 En ligne : https://doi.org/10.1007/s10291-017-0696-4 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=89114 [article]

Mixed integer–real least squares estimation for precise GNSS positioning using a modified ambiguity function approach / Krzysztof Nowel in GPS solutions, vol 22 n° 1 (January 2018)    

Public [article]  inGPS solutions > vol 22 n° 1 (January 2018) Titre : Mixed integer–real least squares estimation for precise GNSS positioning using a modified ambiguity function approach Type de document : Article/Communication Auteurs : Krzysztof Nowel, Auteur ; Sławomir Cellmer, Auteur ; Dawid Kwaśniak, Auteur Année de publication : 2018 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Géodésie spatiale [Termes IGN] ambiguïté entière [Termes IGN] diagramme de Voronoï [Termes IGN] méthode des moindres carrés [Termes IGN] phase [Termes IGN] positionnement par GNSS Résumé : (auteur) Mixed integer–real least squares (MIRLS) estimation still has two open scientific problems, i.e., the validation of results and computational efficiency for a large number of satellites. This paper presents and discusses a non-conventional approach to MIRLS estimation, which belongs to the ambiguity function method (AFM) class. Because the solution is searched for in the constant three-dimensional coordinate domain instead of the n-dimensional ambiguity domain, the computational efficiency does not depend as much on the number of satellites as it does in conventional MIRLS estimation. Simple numerical pretests have shown that the reliability and precision of results from the presented approach and the conventional MIRLS estimation are exactly the same. Hence, the presented approach, contrary to AFM, may be treated as MIRLS estimation. Furthermore, the presented approach is a few hundred times faster than AFM and may be considered in (near) real-time GNSS positioning. In light of the above, the new field of research on MIRLS estimation may be opened. Numéro de notice : A2018-018 Affiliation des auteurs : non IGN Thématique : POSITIONNEMENT Nature : Article DOI : 10.1007/s10291-017-0694-6 Date de publication en ligne : 06/01/2018 En ligne : https://doi.org/10.1007/s10291-017-0694-6 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=89115 [article]

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