Recent Advances in Robotic Systems 2016
DOI: 10.5772/63575
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Validation and Experimental Testing of Observers for Robust GNSS-Aided Inertial Navigation

Abstract: This chapter is the study of state estimators for robust navigation. Navigation of vehicles is a vast field with multiple decades of research. The main aim is to estimate position, linear velocity, and attitude (PVA) under all dynamics, motions, and conditions via data fusion. The state estimation problem will be considered from two different perspectives using the same kinematic model. First, the extended Kalman filter (EKF) will be reviewed, as an example of a stochastic approach; second, a recent nonlinear … Show more

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Cited by 4 publications
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