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[] Observability and Performance Analysis of Velocity Measurements with Lever Arm Aided INS

1 Department of Mapping and Geo-Information Engineering, Technion – Israel Institute of Technology
2 Research Fellow, Rafael – Advanced Defense Systems
* Author to whom correspondence should be addressed.
14 November 2017
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Abstract

In most autonomous vehicles the navigation subsystem is based on Inertial Navigation System (INS). Regardless of the INS grade, its navigation solution drifts in time. To avoid such a drift, the INS is fused with external sensor measurements. Recent publications show that the lever-arm, the relative position between the INS and aiding sensor, has influence on the navigation performance.

Most published research in this field is focused on INS/GNSS fusion with GNSS position updates only where performance and analytical observability analysis were made to examine the consequence of vehicle maneuvers on the estimation of the lever-arm states.

Yet, besides position updates, a variety of sensors measuring the vehicle velocity vector are available including GNSS and a Doppler velocity log. As in position measurements, when performing INS/velocity measurements fusion, the lever-arm must be taken account for. In this paper, an analytical observability and performance analysis for velocity measurements with lever-arm aided INS is derived for stationary conditions. The observable and unobservable subspaces are derived for two error-stets models: 1) a 12 error-state model (the position and lever-arm error-states are not included) yet the lever-arm is present in the measurement equation and 2) a 15 error-state model including the lever-arm error-states. The analytical closed form expressions are verified by numerical simulation.

Keywords

INS, Lever-arm, Observability Analysis

Cite this article as

Borko, A.; Klein, I.; Even-Tzur, G. Observability and Performance Analysis of Velocity Measurements with Lever Arm Aided INS. In Proceedings of the 4th Int. Electron. Conf. Sens. Appl., 15–30 November 2017; ; doi:10.3390/ecsa-4-04893

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