Performance Indices-based Tuning for Barometer-aided Inertial Navigation Systems

被引：4
|
作者：
Vieira, Leonardo A. [1 ]
Silva, Felipe O. [1 ]
Filho, Rogerio P. M. [1 ]
Paiva, Lucas P. S. [1 ]
机构：
[1] Fed Univ Lavras UFLA, Dept Automat DAT, Lavras, Brazil
来源：
2020 XVIII LATIN AMERICAN ROBOTICS SYMPOSIUM, 2020 XII BRAZILIAN SYMPOSIUM ON ROBOTICS AND 2020 XI WORKSHOP OF ROBOTICS IN EDUCATION (LARS-SBR-WRE 2020) | 2020年
关键词：
INITIAL ALIGNMENT;
D O I：
10.1109/lars/sbr/wre51543.2020.9307162
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This article aims at investigating tuning methods for the vertical channel mechanization of barometer-aided inertial navigation systems. As main contribution, tuning techniques based on the minimization of performance indices are evaluated, in order to provide mechanization gains with stable errors in altitude and vertical velocity, in addition to quick responses to unit step. The obtained tunings for each of the proposed performance indices are compared with empirical solutions traditionally proposed in the literature. Simulated results demonstrate that the performance-indices-based tunings provide better results regarding the response to unit step and smaller overshoot.
引用
收藏
页码：341 / 346
页数：6
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