SENSOR FUSION SYSTEM AND METHOD FOR ESTIMATING POSITION, SPEED AND ORIENTATION OF A VEHICLE, IN PARTICULAR AN AIRCRAFT

摘要

This invention relates to a system for estimating the position, speed and orientation of a vehicle (10), comprising means for determining the components of two noncollinear constant unit vectors according to vehicle body axes; means for determining the components of said noncollinear constant unit vectors g→t,e→t according to Earth's axes; means for determining the three components of angular velocity of the vehicle in body axes; means for correcting said angular velocity with a correction uω and obtaining a corrected angular velocitya control module (14) implementing a control law to calculate said correction uω, where said control law is:where σ is a positive scalar,such that upon using said corrected angular velocityas input to a module for integrating the kinematic equations, the latter are stable in the ISS sense and the error in the estimation of the direction cosine matrix B̂ and of the Euler angles Φ̂ is bounded.