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

DOI10.1109/TAC.2018.2879766zbMATH Open1482.93125arXiv1805.00897MaRDI QIDQ5228326FDOQ5228326

Authors: Miaomiao Wang, A. Tayebi 

Publication date: 12 August 2019

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

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.

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)

Cited In (3)

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

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