Discrete-time observers for inertial navigation systems
Name
56889425-MIT.pdf
Description
Full printable version
Size
1.57 MB
Format
Adobe PDF
Checksum (MD5)
7c8d6219857de6e94e1b8292ef0c1489
Author(s)
Zhao, Yong, 1980-
Advisor(s)
Jean-Jacques E. Slotine.
Date Issued
2004
Publisher
Massachusetts Institute of Technology
Abstract
In this thesis, we derive an exact deterministic nonlinear observer to compute the continuous-time states of inertial navigation system based on partial discrete measurements, the so-called strapdown problem. Nonlinear contraction theory is used as the main analysis tool. The hierarchical structure of the system physics is sytematically exploited and the use of nonlinear measurements, such as distances to time-varying reference points, is discussed. Effects of bounded errors on model and measurements are quantified, and can be used for active measurement selection. Work on vehicle state computation is carried out by using a similar observer design method. Finally, the approach is used to compute the head orientation of a simulated planar hopping robot, where the information provided by the observer is used for head stabilization and obstacle jump.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2004.
Includes bibliographical references (p. 65-66).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
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