Nonlinear Observer for 3D Rigid Body Motion Estimation Using Doppler Measurements

Bras, S.; Izadi, Maziar; Silvestre, Carlos; Sanyal, Amit K.; Oliveira, Paulo

doi:10.1109/tac.2016.2526671

Cited by 13 publications

(7 citation statements)

References 16 publications

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“…Besides, some literature considered special measurement situations. In Reference 15, a pose and velocity observer, whose innovation term was designed with the exponential coordinates, was constructed on SE(3) and an observer was designed in Reference 16 to estimate the translational and rotational motion of a rigid body using Doppler measurements. In Reference 17, a practical case that determining the relative motion of a space object which utilizes line‐of‐sight range and range rate measurements by body‐fixed sensors, was considered.…”

Section: Introductionmentioning

confidence: 99%

Angular and linear velocity observer design using vector and landmark measurements

Zhu

Gui

2023

Intl J Robust & Nonlinear

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This paper presents an approach for designing angular and linear velocity observers for rigid bodies using two inertial vectors and one landmark measurements directly. Compared with the classical velocity estimation algorithms, the proposed observer does not need to reconstruct the pose information from measurements nor be coupled with velocity sensors. The linear‐time varying dynamics of the estimation error equation are analyzed, rigorously showing the uniform local exponential stability of the observer. Simulations are conducted to illustrate the significant performance of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Angular and linear velocity observer design using vector and landmark measurements

Zhu

Gui

2023

Intl J Robust & Nonlinear

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“…Usually they are treated as individual problems and are achieved based on location-related and velocity-related measurements, respectively. Specifically, the location-related measurements mainly include timeof-arrival (TOA), time-difference-of-arrival (TDOA), angle-of-arrival (AOA) and received signal strength (RSS) [3][4][5], while the velocity-related measurements can be obtained from Doppler shifts [6,7] or synthetic aperture radars (SARs) [8,9]. Significant progress has been made and quite a lot algorithms have been proposed in the literature.…”

Section: Introductionmentioning

confidence: 99%

“…For example, regarding to target localization, least squares [10], Bayeisan inference [11], convex optimization [12] and iterative algorithms [13] have been proposed and a survey on localization techniques can be found in [14]. On the other hand, various velocity estimation algorithms based on Doppler shifts and/or SARs measurements have been reported in [6,7] and [8,9], respectively.…”

Section: Introductionmentioning

confidence: 99%

Secure Localization and Velocity Estimation in Mobile IoT Networks With Malicious Attacks

Li¹,

Ma²,

Yang

et al. 2021

IEEE Internet Things J.

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Secure localization and velocity estimation are of great importance in Internet of Things (IoT) applications and are particularly challenging in the presence of malicious attacks. The problem becomes even more challenging in practical scenarios in which attack information is unknown and anchor node location uncertainties occur due to node mobility and falsification of malicious nodes. This challenging problem is investigated in this paper. With reasonable assumptions on the attack model and uncertainties, the secure localization and velocity estimation problem is formulated as an intractable maximum a posterior (MAP) problem. A variational-message-passing (VMP) based algorithm is proposed to approximate the true posterior distribution iteratively and find the closed-form estimates of the location and velocity securely. The identification of malicious nodes is also achieved in the meantime. The convergence of the proposed VMP-based algorithm is also discussed. Numerical simulations are finally conducted and the results show the VMP-based joint localization and velocity estimation algorithm can approach the Bayesian Cramer Rao bound and is superior to other secure algorithms.

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“…Pertinent to observers which include motion dynamics, [9] developed a globally convergent angular velocity observer using only orientation measurements, and used the natural energy function on the momentum as a Lyapunov candidate which resulted in a quadratic stable internal observer. [10] and [11] developed a nonlinear observer which estimated pose and a velocity and further demonstrated stability. Both these observers, however, used pose and velocity measurements.…”

Section: Introductionmentioning

confidence: 99%

“…In contrast to [9], we propose an alternative approach to compute a vector difference using a push-forward vector operation. Furthermore, since the subject of this paper is concerned with a non-cooperative Target and velocity measurement is unavailable, the wellformalized theory of autonomous error dynamics in [3], [6] and [7] cannot be used directly and additionally, the observers in [10] and [11] are not applicable. Therefore, in this paper, we address the problem of estimating the inertial pose and body velocity of a non-cooperative free-floating Target using only the relative noisy pose measurements.…”

Section: Introductionmentioning

confidence: 99%

A Nonlinear Observer for Free-Floating Target Motion using only Pose Measurements

Mishra

Stefano

Giordano

et al. 2019

2019 American Control Conference (ACC)

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In this paper, we design a nonlinear observer to estimate the inertial pose and the velocity of a freefloating non-cooperative satellite (Target) using only relative pose measurements. In the context of control design for orbital robotic capture of such a non-cooperative Target, due to lack of navigational aids, only a relative pose estimate may be obtained from slow-sampled and noisy exteroceptive sensors. The velocity, however, cannot be measured directly. To address this problem, we develop a model-based observer which acts as an internal model for Target kinematics/dynamics and therefore, may act as a predictor during periods of no measurement. To this end, firstly, we formalize the estimation problem on the SE(3) Lie group with different state and measurement spaces. Secondly, we develop the kinematics and dynamics observer such that the overall observer error dynamics possesses a stability property. Finally, the proposed observer is validated through robust Monte-Carlo simulations and experiments on a robotic facility.

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Nonlinear Observer for 3D Rigid Body Motion Estimation Using Doppler Measurements

Cited by 13 publications

References 16 publications

Angular and linear velocity observer design using vector and landmark measurements

Angular and linear velocity observer design using vector and landmark measurements

Secure Localization and Velocity Estimation in Mobile IoT Networks With Malicious Attacks

A Nonlinear Observer for Free-Floating Target Motion using only Pose Measurements

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