%0 Journal Article %T An Online Interval-Based Inertial Navigation System for Control Purposes of Autonomous Boats %+ Equipe ROBotics for EXploration (Lab-STICC_ROBEX) %+ École Nationale Supérieure de Techniques Avancées Bretagne (ENSTA Bretagne) %+ Department für Informatik [Oldenburg] %A Le Bars, Fabrice %A Sanchez, Robin %A Jaulin, Luc %A Rohou, Simon %A Rauh, Andreas %< avec comité de lecture %@ 2673-6268 %J Frontiers in Control Engineering %I Frontiers Media %8 2022-03-04 %D 2022 %R 10.3389/fcteg.2021.786188 %K state estimation %K interval %K robotics %K attitude and heading reference systems %K inertial navigation systems %K robustness against outliers %Z Engineering Sciences [physics]/Automatic %Z Mathematics [math]/Dynamical Systems [math.DS]Journal articles %X Interval analysis is a numerical tool classically used for solving nonlinear equations in a guaranteed way. It has been shown that it can be used to build reliable nonlinear state estimators for dynamical systems. Numerous simulations inspired from real-life applications have shown the applicability of the approach. This paper proposes to implement an interval-based INS (Inertial Navigation System) in an actual robot to estimate its orientation and position. It shows that some types of outliers can be naturally handled by the fusion algorithm, while the resulting controller can be both fast and reliable. Experiments with an actual autonomous boat conclude this article. %G English %2 https://ensta-bretagne.hal.science/hal-03597657/document %2 https://ensta-bretagne.hal.science/hal-03597657/file/fcteg-02-786188.pdf %L hal-03597657 %U https://ensta-bretagne.hal.science/hal-03597657 %~ UNIV-BREST %~ INSTITUT-TELECOM %~ ENSTA-BRETAGNE %~ CNRS %~ UNIV-UBS %~ ENSTA-BRETAGNE-STIC %~ INSMI %~ ENIB %~ LAB-STICC %~ TDS-MACS %~ INSTITUTS-TELECOM %~ LAB-STICC_ROBEX