A nonlinear position and attitude observer on SE(3) using landmark measurements

Vasconcelos, J.F.; Cunha, Rita; Silvestre, Carlos; Oliveira, Paulo

doi:10.1016/j.sysconle.2009.11.008

Cited by 118 publications

(121 citation statements)

References 25 publications

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“…In many cases extra sensors may facilitate the solution. For example, global positioning system (GPS) was used in [75]; magnetic field sensors were utilized in [143,68], additional bearing information was required in [11]; landmark measurements were used in [190], Earth horizon sensor was utilized in [83], active vision system was employed in [24]. Like robotic systems, living creatures solve the problem of estimation gravitational verticality using limited set of sensors.…”

Section: Verticality Estimation Methodsmentioning

confidence: 99%

Modeling Verticality Estimation During Locomotion

Farkhatdinov

Michalska

Berthoz

et al. 2013

Romansy 19 – Robot Design, Dynamics and Control

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In this thesis, a nonlinear model of the vestibular system is proposed, with special reference to humans and other locomoting animals. The vestibular system is essential for stable locomotion since it provides idiothetic measurements of spatial orientation that are needed for postural control. The model was constructed from general considerations regarding the Newton-Euler dynamics governing the three-dimensional movements of bodies constrained to oscillate in non-inertial frames, such as the otoliths, which were modeled as spherical damped pendula. Two configurations were considered. The medial model considered only one inner ear located in the center of a head. The lateral model considered two inner ears located laterally with respect to the center of rotation of the head. The differences between these two models were analyzed and the importance of having two vestibular organs discussed. To this end, a nonlinear algebraic observability test was used to verify whether the reconstruction of the head orientation with respect to the gravitational vertical was possible from otoliths measurements only. It could be shown that in order for the head vertical orientation to be observable, the head had to be stabilized during locomotion. Moreover, it was shown that the gravitoinertial ambiguity inherent to inertial idiothetic sensing could be resolved if the head was horizontally stabilized. These results were applied to solve the head vertical orientation estimation problem in the linearized case (Luenberger observer, Kalman filter) as well as in the nonlinear case (Extended Kalman filter, Newton method based observation). These observers were designed and tested in simulations. The simulations indicated that the estimation errors were smaller and the observers converged faster when head was stabilized during locomotion, leading to a nonlinear, combined observation-control system that could be stabilized with respect to the gravitational vertical based on no other information than the prior knowledge of the Newton-Euler dynamics. The results were further tested with a specifically designed experimental setup that comprised an actuated gimbal mechanism to represent the head-neck articulation and a liquid-based inclinometer that represented the otoliths organs. The findings derived from this research would be helpful for analyzing spatial perception in humans and animals, and for improving the perceptual capabilities of robotic systems, such as humanoid robots, rough terrain vehicles, or free-moving drones.Keywords: vestibular system, head-neck system, nonlinear system, observation, estimation, verticality, spatial perception, locomotion, humanoid robot. 3 RésuméDans cette thèse, nous proposons un modèle non-linéaire du système vestibulaire, en particulier chez l'humain et autres animaux mobiles. Le système vestibulaire est essentiel pour une locomotion stable dans la mesure où il fournit des mesures idiothétiques d'orientation spatiale nécessairesà la stabilité posturale. Le développement du modèle est basé sur l...

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Section: Verticality Estimation Methodsmentioning

confidence: 99%

Modeling Verticality Estimation During Locomotion

Farkhatdinov

Michalska

Berthoz

et al. 2013

Romansy 19 – Robot Design, Dynamics and Control

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“…A possible solution is to use reference vectors from local surroundings. An example is shown by Vasconcelos et al [15] in which estimation is done by using known landmarks. Similar work is done by Hua [16] and Bras et al [17], where the latter is for range-only measurements.…”

Section: Introductionmentioning

confidence: 99%

Cascade attitude observer for the SLAM filtering problem

Bjørne

Brekke

Johansen

2017

2017 IEEE Conference on Control Technology and Applications (CCTA)

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Abstract-This article presents an attitude observer that exploits both bearing and range measurements from landmarks, in addition to reference vectors such as magnetometer and accelerometer. It is a gyro bias observer in cascade with a simplified complementary filter, driven by a gyro measurement, in which the gyro bias is estimated by comparing the bearing dynamics with the gyro measurements. The observer is compared to a full complimentary filter, and it is shown that it is more robust to initial gyro bias estimation error compared to the complimentary filter. The article also reveals how this new observer handles magnetometer failure and can use landmarks as reference vectors.

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“…One adverse consequence of these unstable estimation and control schemes is that they end up taking longer to converge compared to stable schemes with the same initial conditions and same initial transient behavior. Attitude observers and filtering schemes on SO(3) and SE(3) have been reported in, e.g., [4], [14], [15], [17], [18], [19], [24], [27], [31], [32]. These estimators do not suffer from kinematic singularities like estimators using coordinate descriptions of attitude, and they do not suffer from the unstable unwinding phenomenon encountered by continuous estimators using unit quaternions.…”

Section: Introductionmentioning

confidence: 99%

GPS-denied relative motion estimation for fixed-wing UAV using the variational pose estimator

Izadi

Sanyal

Beard

et al. 2015

2015 54th IEEE Conference on Decision and Control (CDC)

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Abstract-Relative pose estimation between fixed-wing unmanned aerial vehicles (UAVs) is treated using a stable and robust estimation scheme. The motivating application of this scheme is that of "handoff" of an object being tracked from one fixed-wing UAV to another in a team of UAVs, using onboard sensors in a GPS-denied environment. This estimation scheme uses optical measurements from cameras onboard a vehicle, to estimate both the relative pose and relative velocities of another vehicle or target object. It is obtained by applying the Lagrange-d'Alembert principle to a Lagrangian constructed from measurement residuals using only the optical measurements. This nonlinear pose estimation scheme is discretized for computer implementation using the discrete Lagranged'Alembert principle, with a discrete-time linear filter for obtaining relative velocity estimates from optical measurements. Computer simulations depict the stability and robustness of this estimator to noisy measurements and uncertainties in initial relative pose and velocities.

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A nonlinear position and attitude observer on SE(3) using landmark measurements

Cited by 118 publications

References 25 publications

Modeling Verticality Estimation During Locomotion

Modeling Verticality Estimation During Locomotion

Cascade attitude observer for the SLAM filtering problem

GPS-denied relative motion estimation for fixed-wing UAV using the variational pose estimator

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