Long baseline navigation with explicit pseudo-range clock offset and propagation speed estimation

摘要

This paper proposes a novel one-way-travel-time (OWTT) long baseline (LBL) navigation concept that departs from previous approaches in that: (i) the clock of the receiver in the vehicle needs not to be synchronized with the clocks of the emitters: and (ii) the speed of propagation of the signals is assumed unknown. The nonlinear system dynamics are considered in a continuous-discrete time framework, taking advantage of the pseudo-range measurements obtained at low update rates and the data from other sensors obtained at high rates. An augmented system is proposed whose observability is analyzed and that is shown to be equivalent to the original nonlinear system under appropriate conditions. A Kalman filter provides the estimation solution, with globally exponentially stable error dynamics, in spite of the original nonlinear nature of the system dynamics. The performance of the proposed solution is evaluated with numerical simulations resorting to Monte Carlo runs. The comparison with the extended Kalman filter and the Bayesian Cramer-Rao bound are also included. (C) 2018 European Control Association. Published by Elsevier Ltd. All rights reserved.