Hybrid Pose and Velocity-Bias Estimation on SE(3) Using Inertial and Landmark Measurements

DOI10.1109/TAC.2018.2879766MaRDI QIDQ5228326zbMATH OpenFDO

Authors Miaomiao Wang, A. Tayebi

Publication date 12 August 2019

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1805.00897

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Observability (93B07) Geometric methods (93B27)

Abstract: This paper deals with the design of globally exponentially stable invariant observers on the Special Euclidian group SE(3). First, we propose a generic hybrid observer scheme (depending on a generic potential function) evolving on $SE(3)imesmathbb{R}^6$ for pose (orientation and position) and velocity-bias estimation. Thereafter, the proposed observer is formulated explicitly in terms of inertial vectors and landmark measurements. Interestingly, the proposed observer leads to a decoupled rotational error dynamics from the translational dynamics, which is an interesting feature in practical applications with noisy measurements and disturbances.

Cited in

(3)

• Nonlinear state estimation for inertial navigation systems with intermittent measurements
• Angular velocity observer design using vector measurements with application to attitude tracking
• Angular and linear velocity observer design using vector and landmark measurements

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