Attitude estimation with intermittent measurements

This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on SO(3) × R 15 relying on body-frame acceleration, angular velocity and (stereo or monocular) bearing measurements of some landmarks that are constant and known in the inertial frame. Unlike the existing local Kalman-type observers, our proposed nonlinear observer guarantees almost global asymptotic stability and local exponential stability. A detailed uniform observability analysis has been conducted and sufficient conditions are derived. Moreover, a hybrid version of the proposed observer is provided to handle the intermittent nature of the measurements in practical applications. Simulation and experimental results are provided to illustrate the effectiveness of the proposed state observer.

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“…with O defined in (22), which contradicts item (ii) of the Lemma that O has full rank of 15 + N , i.e., O z 2 > 0, ∀t ≥ 0.…”

Section: Proof Of Lemmamentioning

confidence: 95%

Nonlinear Observers for Stereo-Vision-Aided Inertial Navigation

Wang

Tayebi

2019

2019 IEEE 58th Conference on Decision and Control (CDC)

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“…Note that the closed-loop system (15) evolves on the manifold SO(3) × R 6 , and one can easily verify that (I 3 , 0) is one of the equilibrium of system (15). Proposition 1: Let D u be a closed and bounded subset of R m .…”

Section: A Observer Design Using Continuous Measurementsmentioning

confidence: 99%

“…It is clear that the stability and performance would be altered if one tries to implement these continuous-time observers with intermittent measurements. In this context, some more recent results dealing with discrete measurements have been considered, for instance, the discrete-time attitude observers proposed in [12], [13] and the continuous-discrete attitude observers proposed in [14], [15]. The latter category assumes that the high-rate measurements of the angular velocity are continuous and the low-rate measurements of inertial vectors are intermittent.…”

Section: Introductionmentioning

confidence: 99%

“…The output predictor was designed to smooth the vector measurements through a forward integration on SO(3) of the continuous angular velocity measurements. In [15], the authors consider a predict-update hybrid approach, where the estimated attitude is continuously updated by integrating the continuous angular velocity and discretely updated through jumps upon the arrival of the intermittent vector measurements.…”

Section: Introductionmentioning

confidence: 99%

“…In particular, all the estimated states are continuously updated through integration using the continuous angular velocity and linear acceleration measurements, and discretely updated upon the arrival of the intermittent linear velocity and vector measurements. The proposed hybrid observer has a similar structure as [15], while the estimated attitude from our hybrid observer is continuous without any additional smoothing algorithm. The fact that our proposed hybrid observer generates continuous estimates of the attitude makes it suitable for practical applications involving observer-controller implementations.…”

Section: Introductionmentioning

confidence: 99%

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Nonlinear Attitude Estimation Using Intermittent Linear Velocity and Vector Measurements

Wang¹,

Tayebi²

2021

Preprint

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This paper investigates the problem of continuous attitude estimation on SO(3) using continuous angular velocity and linear acceleration measurements as well as intermittent linear velocity and inertial vector measurements. First, we propose a nonlinear observer for the case where all the measurements are continuous and almost global asymptotic stability (AGAS) is shown using the notion of almost global input-to-state stability (ISS) on manifolds. Thereafter, a hybrid attitude observer, with AGAS guarantees, is proposed in terms of intermittent linear velocity and vector measurements. Numerical simulation results are presented to illustrate the performance of the proposed hybrid observer.

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Nonlinear state estimation for inertial navigation systems with intermittent measurements

Wang

Tayebi

2020

Automatica

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Attitude estimation with intermittent measurements

Cited by 20 publications

References 16 publications

Nonlinear Observers for Stereo-Vision-Aided Inertial Navigation

Nonlinear Observers for Stereo-Vision-Aided Inertial Navigation

Nonlinear Attitude Estimation Using Intermittent Linear Velocity and Vector Measurements

Nonlinear state estimation for inertial navigation systems with intermittent measurements

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