State Observability through Prior Knowledge: Analysis of the Height Map Prior for Track Cycling

State Observability through Prior Knowledge: Analysis of the Height Map Prior for Track Cycling

Inertial navigation systems suffer from unbounded errors in the position and orientation estimates. This drift can be corrected by applying prior knowledge, instead of using exteroceptive sensors. We want to show that the use of prior knowledge can yield full observability of the position and orient...

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Bibliographic Details
Main Authors: Tom L. Koller, Udo Frese
Format: Article
Language:English
Published: MDPI AG 2020-04-01
Series:Sensors
Subjects:
observability analysis
IMU
INS
prior knowledge
C = context knowledge
vehicle constraint
Online Access:https://www.mdpi.com/1424-8220/20/9/2438

Internet

https://www.mdpi.com/1424-8220/20/9/2438

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