# Position/Velocity Aided Leveling Loop: Continuous-Discrete Time State Multiplicative-Noise Filter Case

### Irina Avital, Isaac Yaesh, Adrian-Mihail Stoica

#### 2023

#### Abstract

The problem of leveling using a low cost Inertial Measurement Unit (IMU) is considered, where the IMU measurements are corrupted with white noise. In such a case the state equations are subject to state-multiplicative noise. To cope with this noise, a state-Multiplicative Kalman Filter (MKF) is applied. The state components for the Kalman filter implementation include the Body Position Vector (BPV), the Body Velocity Vector (BVV), which is just the Ground Velocities Vector (GVV), projected onto the body axes and the three direction cosines related to the roll and pitch angles. The BVB is assumed to be measured using a Doppler Velocity Log (DVL) device which consists of four antennas measuring the Doppler effect. Similarly, it is assumed that the corresponding BPV can be measured, for instance, using the received signal power at those four antennas. The paper includes numerical simulations and implementation aspects related to the sampled data nature of the estimation problem.

Download#### Paper Citation

#### in Harvard Style

Avital I., Yaesh I. and Stoica A. (2023). **Position/Velocity Aided Leveling Loop: Continuous-Discrete Time State Multiplicative-Noise Filter Case**. In *Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO*; ISBN 978-989-758-670-5, SciTePress, pages 485-488. DOI: 10.5220/0012208200003543

#### in Bibtex Style

@conference{icinco23,

author={Irina Avital and Isaac Yaesh and Adrian-Mihail Stoica},

title={Position/Velocity Aided Leveling Loop: Continuous-Discrete Time State Multiplicative-Noise Filter Case},

booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},

year={2023},

pages={485-488},

publisher={SciTePress},

organization={INSTICC},

doi={10.5220/0012208200003543},

isbn={978-989-758-670-5},

}

#### in EndNote Style

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO

TI - Position/Velocity Aided Leveling Loop: Continuous-Discrete Time State Multiplicative-Noise Filter Case

SN - 978-989-758-670-5

AU - Avital I.

AU - Yaesh I.

AU - Stoica A.

PY - 2023

SP - 485

EP - 488

DO - 10.5220/0012208200003543

PB - SciTePress