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2013 American Control Conference
For applications with limited computational capacity, observers designed based on nonlinear stability theory offer an alternative to computationally demanding extended Kalman filters. In this paper, we present a semiglobally stable nonlinear observer for estimating position, velocity, attitude, and gyro bias by combining a GNSS receiver with an inertial measurement unit including a magnetometer. Previous work by the authors on this topic was based on local navigation equations that ignored thedoi:10.1109/acc.2013.6579849 fatcat:schpdqeipzfj7ixznkpakurn74