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dc.creatorSilva, Felipe O.-
dc.creatorHemerly, Elder M.-
dc.creatorLeite Filho, Waldemar C.-
dc.date.accessioned2019-07-15T11:42:55Z-
dc.date.available2019-07-15T11:42:55Z-
dc.date.issued2018-12-
dc.identifier.citationSILVA, F. O.; HEMERLY, E. M.; LEITE FILHO, W. C. On the measurement selection for stationary sins alignment kalman filters. Measurement, [S.l.], v. 130, p. 82-93, Dec. 2018.pt_BR
dc.identifier.urihttps://www.sciencedirect.com/science/article/pii/S0263224118307413pt_BR
dc.identifier.urihttp://repositorio.ufla.br/jspui/handle/1/35288-
dc.description.abstractThis paper presents a comprehensive study aiming at the optimal measurement selection for Kalman filters applied to the stationary fine self-alignment of strapdown inertial navigation systems (SINS). On the basis of the definition of nonholonomic constraints, two very important measurement strategies for alignment purposes are investigated and mathematically derived: the standalone “zero velocity update” (ZVU) strategy, and an augmented measurement strategy, formed from the ZVU constraint in addition to the “constant Earth rate and gravity update” (CERGU) constraint. As main contribution of this paper, we analytically prove, trough the Cholesky factorization of the observability information matrix, that the augmented strategy is able to improve the convergence rate of the stationary fine self-alignment Kalman filter. For complying with the SINS rapidity requirement, the augmented measurement strategy is considered superior to the traditional standalone ZVU strategy. Simulated and experimental results confirm the adequacy of the outlined conclusions.pt_BR
dc.languageen_USpt_BR
dc.publisherElsevierpt_BR
dc.rightsrestrictAccesspt_BR
dc.sourceMeasurementpt_BR
dc.subjectStationary fine self-alignmentpt_BR
dc.subjectInertial navigationpt_BR
dc.subjectMeasurement selectionpt_BR
dc.subjectNonholonomic constraintspt_BR
dc.subjectConvergence ratept_BR
dc.subjectKalman filterpt_BR
dc.titleOn the measurement selection for stationary sins alignment kalman filterspt_BR
dc.typeArtigopt_BR
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