On the measurement selection for stationary sins alignment kalman filters

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MetadadosDescriçãoIdioma
Autor(es): dc.creatorSilva, Felipe O.-
Autor(es): dc.creatorHemerly, Elder M.-
Autor(es): dc.creatorLeite Filho, Waldemar C.-
Data de aceite: dc.date.accessioned2026-02-09T12:42:47Z-
Data de disponibilização: dc.date.available2026-02-09T12:42:47Z-
Data de envio: dc.date.issued2019-07-15-
Data de envio: dc.date.issued2019-07-15-
Data de envio: dc.date.issued2018-12-
Fonte completa do material: dc.identifierhttps://repositorio.ufla.br/handle/1/35288-
Fonte completa do material: dc.identifierhttps://www.sciencedirect.com/science/article/pii/S0263224118307413-
Fonte: dc.identifier.urihttp://educapes.capes.gov.br/handle/capes/1166780-
Descrição: dc.descriptionThis paper presents a comprehensive study aiming at the optimal measurement selection for Kalman filters applied to the stationary fine self-alignment of strapdown inertial navigation systems (SINS). On the basis of the definition of nonholonomic constraints, two very important measurement strategies for alignment purposes are investigated and mathematically derived: the standalone “zero velocity update” (ZVU) strategy, and an augmented measurement strategy, formed from the ZVU constraint in addition to the “constant Earth rate and gravity update” (CERGU) constraint. As main contribution of this paper, we analytically prove, trough the Cholesky factorization of the observability information matrix, that the augmented strategy is able to improve the convergence rate of the stationary fine self-alignment Kalman filter. For complying with the SINS rapidity requirement, the augmented measurement strategy is considered superior to the traditional standalone ZVU strategy. Simulated and experimental results confirm the adequacy of the outlined conclusions.-
Idioma: dc.languageen-
Publicador: dc.publisherElsevier-
Direitos: dc.rightsrestrictAccess-
???dc.source???: dc.sourceMeasurement-
Palavras-chave: dc.subjectStationary fine self-alignment-
Palavras-chave: dc.subjectInertial navigation-
Palavras-chave: dc.subjectMeasurement selection-
Palavras-chave: dc.subjectNonholonomic constraints-
Palavras-chave: dc.subjectConvergence rate-
Palavras-chave: dc.subjectKalman filter-
Título: dc.titleOn the measurement selection for stationary sins alignment kalman filters-
Tipo de arquivo: dc.typeArtigo-
Aparece nas coleções:Repositório Institucional da Universidade Federal de Lavras (RIUFLA)

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