Performance Indices-based Tuning for Barometer-aided Inertial Navigation Systems

  • Leonardo Vieira UFLA
  • Felipe Silva UFLA
  • Rogério M. Filho UFLA
  • Lucas Paiva UFLA


This article aims at investigating tuning methods for the vertical channel mechanization of barometer-aided inertial navigation systems. As main contribution, tuning techniques based on the minimization of performance indices are evaluated, in order to provide mechanization gains with stable errors in altitude and vertical velocity, in addition to quick responses to unit step. The obtained tunings for each of the proposed performance indices are compared with empirical solutions traditionally proposed in the literature. Simulated results demonstrate that the performance-indices-based tunings provide better results regarding the response to unit step and smaller overshoot.
Palavras-chave: Tuning, Cost function, Earth, Accelerometers, Minimization, Transfer functions, Inertial navigation
Como Citar

Selecione um Formato
VIEIRA, Leonardo; SILVA, Felipe; M. FILHO, Rogério; PAIVA, Lucas. Performance Indices-based Tuning for Barometer-aided Inertial Navigation Systems. In: SIMPÓSIO BRASILEIRO DE ROBÓTICA E SIMPÓSIO LATINO AMERICANO DE ROBÓTICA (SBR/LARS), 17. , 2020, Natal. Anais [...]. Porto Alegre: Sociedade Brasileira de Computação, 2020 . p. 341-346.