Three-stage filter for position and velocity estimation from long baseline measurements with unknown wave speed

In this paper, an inertial navigation system (INS) aided by a long baseline (LBL) ranging system is presented and shown to have globally exponentially stable (GES) error dynamics. It uses a novel formulation for relating pseudo-range and pseudo-range-rate measurements linearly to position, velocity, and a multiplicative bias parameter, the latter parameter to correct for unknown wave speed, i.e. propagation speed in the medium.

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