@inproceedings{53dc9069a34c4d32a2bad97b499e5d42,
title = "A robust data driven error damping method for inertial navigation system based on unfalsified adaptive control",
abstract = "The Unfalsified Adaptive Control Theory is introduced to the field of marine inertial navigation system, in order to achieve better performance in estimating the pitch, roll and yaw angle of the ship with the help of a velocimeter which can measure the velocity of the ship relative to the bottom of the sea. The error of inertial navigation system drifts with time, so that extra observations (position, velocity etc.) are needed to help damping the error. Normally a feedback loop based on gyro compassing can do the work, yet the loop parameters are fixed, which makes it neither optimal nor the most robust. Unfalsified Adaptive Control Theory is introduced to help modify the gyro compassing loop to make it adaptively adjust the parameters to deal with the measurement noises and disturbances, which has better accuracy and is disturbance resist ability.",
keywords = "Error damping, Strap-down Inertial Navigation System, Unfalsified Control",
author = "Yongqiang Han and Jiabin Chen and Xiaochun Tian and Nan Li",
note = "Publisher Copyright: {\textcopyright} 2015 Technical Committee on Control Theory, Chinese Association of Automation.; 34th Chinese Control Conference, CCC 2015 ; Conference date: 28-07-2015 Through 30-07-2015",
year = "2015",
month = sep,
day = "11",
doi = "10.1109/ChiCC.2015.7260492",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "5455--5460",
editor = "Qianchuan Zhao and Shirong Liu",
booktitle = "Proceedings of the 34th Chinese Control Conference, CCC 2015",
address = "United States",
}
