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Navigation systems based on multiple bearing measurements
Batista P.1; Silvestre C.2; Oliveira P.3
2015-10-01
Source PublicationIEEE Transactions on Aerospace and Electronic Systems
ISSN00189251
Volume51Issue:4Pages:2887-2899
Abstract

This paper presents two navigation filters based on multiple bearing measurements. In the first, the state is augmented and an equivalent linear system is derived, while in the second the output of the system is modified in such a way that the resulting system is linear. In both cases, the design of a filtering solution relies on linear systems theory, in spite of the nonlinear nature of the system, and the resulting error dynamics can be made globally exponentially stable by applying, for example, Kalman filters. The continuous/discrete nature of the different measurement sources is taken into account, with the updates occurring in discrete time, while open-loop propagation is carried out between bearing measurements. Simulation results are presented, including Monte Carlo runs and a comparison with both the extended Kalman filter and the Bayesian Cramér-Rao bound, to assess the performance of the proposed solutions.

DOI10.1109/TAES.2015.140515
URLView the original
Language英语
WOS Research AreaEngineering ; Telecommunications
WOS SubjectEngineering, Aerospace ; Engineering, Electrical & Electronic ; Telecommunications
WOS IDWOS:000369006000029
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 445 HOES LANE, PISCATAWAY, NJ 08855-4141 USA
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Citation statistics
Cited Times [WOS]:3   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Institute for Systems and Robotics, Laboratory of Robotics and Engineering Systems, Av. Rovisco Pais, 1, 1049-001 Lisboa, Portugal
2.Department of Electrical and Computer Engineering of the Faculty of Science and Technology of the University of Macau, E11 Avenida da Universidade, Taipa, Macau, China
3.LAETA and the Department of Mechanical Engineering, Instituto Superior Tecnico, ´ Universidade de Lisboa, Av. Rovisco Pais, 1, 1049-001 Lisboa, Portugal.
Recommended Citation
GB/T 7714
Batista P.,Silvestre C.,Oliveira P.. Navigation systems based on multiple bearing measurements[J]. IEEE Transactions on Aerospace and Electronic Systems,2015,51(4):2887-2899.
APA Batista P.,Silvestre C.,&Oliveira P..(2015).Navigation systems based on multiple bearing measurements.IEEE Transactions on Aerospace and Electronic Systems,51(4),2887-2899.
MLA Batista P.,et al."Navigation systems based on multiple bearing measurements".IEEE Transactions on Aerospace and Electronic Systems 51.4(2015):2887-2899.
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