Nonlinear observer with time-varying gains for inertial navigation aided by satellite reference systems in dynamic positioning

Bryne, Torleiv H.; Fossen, Thor I.; Johansen, Tor Arne

doi:10.1109/med.2014.6961564

Cited by 20 publications

(32 citation statements)

References 16 publications

(35 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Because of the slow dynamics of DP vessels, this will not affect the performance of Σ 1 even though the stability analyses of Bryne et al [15] and the reference therein requires two vector measurements. The quaternion unity constraint was enforced withq n b =q n b / q n b after every quaternion update.…”

Section: Methodsmentioning

confidence: 99%

“…where (1)- (5) are obtained from Bryne et al [15], extending the formulation in Grip et al [16] with the integral of the vertical heave position, p n z , denoted p n I which is an auxiliary variable defined in order to utilize a virtual vertical reference (VVR) aiding measurement presented in Section 2.4. The strapdown equations applied in this paper are suitable for marine surface vessels employing local navigation.…”

Section: Kinematic Strapdown Equationsmentioning

confidence: 99%

“…The respective estimation errors of the translational motion are defined in the following manner; Proof, see Bryne et al [15].…”

Section: Estimating the Total Vessel Motion And The Gyro Biasmentioning

confidence: 99%

“…Bryne et al [15] have developed a six degree of freedom (DOF), time-varying nonlinear inertial navigation system (INS) observer, with USGES stability properties, exploiting the position reference system's quality indicator, customized for marine surface vessels, based on the results of Grip et al [16]. However, Bryne et al did not consider wave filtering.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Design of inertial navigation systems for marine craft with adaptive wave filtering aided by triple‐redundant sensor packages

Bryne

Fossen

Johansen

2015

Adaptive Control & Signal

Self Cite

View full text Add to dashboard Cite

SUMMARYMarine craft feedback control systems typically require estimates of position, velocity and heading where the wave-induced motions should be suppressed. This paper presents a strapdown inertial navigation system with adaptive wave filtering. Wave filtering based on inertial navigation systems differ from previous vesselmodel-based designs which require knowledge of vessel parameters and mathematical models for estimation of thruster and wind forces and moments based on auxiliary sensors. The origin of the inertial navigation system error states is proven to be uniformly semiglobally exponentially stable (USGES). The wave-filtering scheme uses the estimated states of the inertial navigation system to separate the low-frequency motion of the craft from the wave-frequency motions. The observer structure also allows for estimation of the timevarying encounter frequency by using a signal-based frequency tracker or an adaptive observer. Finally, the structural properties of the triple-redundant sensors packages have been utilized to obtain optimal and robust sensor fusion with respect to sensor performance and faults.

show abstract

Section: Methodsmentioning

confidence: 99%

Section: Kinematic Strapdown Equationsmentioning

confidence: 99%

“…The respective estimation errors of the translational motion are defined in the following manner; Proof, see Bryne et al [15].…”

Section: Estimating the Total Vessel Motion And The Gyro Biasmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Design of inertial navigation systems for marine craft with adaptive wave filtering aided by triple‐redundant sensor packages

Bryne

Fossen

Johansen

2015

Adaptive Control & Signal

Self Cite

View full text Add to dashboard Cite

show abstract

“…The reader is referred to Fossen and Strand (1999), Fossen (2011) for details on the model-based observer, and to Grip et al (2012), Grip et al (2013), Bryne et al (2014), and Bryne et al (2015) for details on the signal-based observer.…”

Section: Observers Used In Dynamic Positioningmentioning

confidence: 99%

Hybrid observer for improved transient performance of a marine vessel in dynamic positioning**This work was supported by the Research Council of Norway through the Centres of Excellence funding scheme, project number 23254 - AMOS, and in part by NSF grant number ECCS-1508757 and AFOSR grant number FA9550-15-1-0155.

et al. 2016

View full text Add to dashboard Cite

Dynamic positioning (DP) systems are used on marine vessels for automatic station keeping and tracking operations solely by use of thrusters. Observers are key components of DP systems, and two main types are proposed in this paper. The model-based type is used in steady state conditions since it is especially good at filtering out first order wave induced motions and predicting states in the case of signal loss, and the signal-based type typically has superior performance during transients. In this paper a hybrid observer including a signal-based part and a model-based part with a performance monitoring function is proposed. The observer part that provides the best estimate of the vessel position and heading is used in closed-loop control, thereby allowing for improved transient response while maintaining good steady-state performance. The contributions of this paper include the design of a hybrid signal-based and model-based observer with performance monitoring, stability analysis of the vessel with hybrid estimates in output feedback control, and simulations of a platform supply vessel during a setpoint and heading change.

show abstract

A hybrid observer for localization of mobile vehicles with asynchronous measurements

Alonge¹,

D’Ippolito²,

Garraffa³

et al. 2019

Asian Journal of Control

View full text Add to dashboard Cite

The aim of this paper is the design of a hybrid nonlinear observer for mobile vehicles. The main problem is that position and velocity measurements are provided with a very low frequency, and the time between two consecutive measurements could be not constant, but it could vary randomly within a certain interval of time. For this reason the proposed observer has been contextualized in the hybrid systems framework. The convergence analysis of the estimation error has been carried out, and the sensitivity analysis has been performed in order to evaluate the bound of the estimation error when the measurements are biased and/or noisy. Simulation and experimental results, carried out on a mobile vehicle, show the feasibility of the proposed observer and the good behaviors in terms of estimation error that can be achieved.

show abstract

Nonlinear observer with time-varying gains for inertial navigation aided by satellite reference systems in dynamic positioning

Cited by 20 publications

References 16 publications

Design of inertial navigation systems for marine craft with adaptive wave filtering aided by triple‐redundant sensor packages

Design of inertial navigation systems for marine craft with adaptive wave filtering aided by triple‐redundant sensor packages

A hybrid observer for localization of mobile vehicles with asynchronous measurements

Contact Info

Product

Resources

About