Pose observers for Unmanned Air Vehicles

Bras, S.; Vasconcelos, J.F.; Silvestre, Carlos; Oliveira, Paulo

doi:10.23919/ecc.2009.7075024

Cited by 5 publications

(7 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…From there the proposed observer is given by (10) and (16) withγ defined by (12) and with the innovation terms σ ξ , σ R , σ V , σ Q,1 and σ Q,2 determined from the input u calculated according to (8) and (9) with the matricesQ(t) andV(t) chosen larger than some positive matrices.…”

Section: Assumptionmentioning

confidence: 99%

“…According to [11,Corollary 3.2] and Lemma 2, good conditioning of the solutions P(t) to the continuous Riccati equation (9) and exponential stability of the proposed observer rely on the uniform observability of the pair (A (t), C (t)) obtained by setting x = 0 in the expressions of the matrices A and C derived previously. In view of (22) one has…”

Section: Observability and Stability Analysismentioning

confidence: 99%

“…However, nonlinear observers have increasingly become an alternative to these classical techniques, starting with the work of Salcudean on attitude observer [20] and subsequent contributions by other researchers [1], [5], [6], [8], [10], [15]- [19]. Full pose observer design has recently attracted some particular attention [2]- [4], [9], [11], [13]- [15], [21]- [23]. Depending on the nature of measurements, several research directions have been investigated.…”

Section: Introductionmentioning

confidence: 99%

“…Moreover, Doppler velocity sensors such as Doppler Velocity Log (DVL) commonly used for the navigation of autonomous underwater vehicles are extremely expensive and difficult to implement due to their size and weight. For those reasons, accelerometer measurements have been recently exploited as an alternative to linear velocity measurements for pose observer design as proposed in [9], which relies on the assumption that the gravity direction in the inertial frame is known a priori. The latter assumption is, however, rather restrictive from a practical point of view for some applications such as stereo visual odometry where the reference keyframe is regularly changed (and so are the inertial frame and the gravity direction vector expressed in this frame) when the number of point correspondences is dropped below a certain threshold.…”

Section: Introductionmentioning

confidence: 99%

“…In the present paper the pose observer design from landmark position measurements in combination with gyrometer and accelerometer readings is revisited, but here without relying on the assumption on the gravity direction used in [9]. The design of the proposed observer is inspired by a recent deterministic Riccati observer design framework [11] that relies on the solutions to the Continuous Riccati Equation (CRE).…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Riccati Observer Design for Pose, Linear Velocity and Gravity Direction Estimation Using Landmark Position and IMU Measurements

Hua

Allibert

2018

2018 IEEE Conference on Control Technology and Applications (CCTA)

View full text Add to dashboard Cite

This paper revisits the problem of estimating the pose (i.e. position and attitude) of a robotic vehicle by combining landmark position measurements provided by a stereo camera with measurements of an Inertial Measurement Unit. The distinguished features with respect to similar works on the topic are two folds: First, the vehicle's linear velocity is not measured neither in the body frame nor in the inertial frame; Second, no prior knowledge on the gravity direction expressed in the inertial frame is required. Instead both the linear velocity and the gravity direction are estimated together with the pose. Another innovative feature of the paper relies on the idea of over-parametrizing the gravity direction vector evolving on the unit 2-sphere S 2 by an element of SO(3) so that the error system in first order approximations can be written in an "elegant" linear time-varying form. The proposed deterministic observer is accompanied with an observability analysis that points out an explicit observability condition under which local exponential stability is granted. Reported simulation results further indicate that the observer's domain of convergence is large.

show abstract

Section: Assumptionmentioning

confidence: 99%

Section: Observability and Stability Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Riccati Observer Design for Pose, Linear Velocity and Gravity Direction Estimation Using Landmark Position and IMU Measurements

Hua

Allibert

2018

2018 IEEE Conference on Control Technology and Applications (CCTA)

View full text Add to dashboard Cite

show abstract

Nonlinear attitude estimation using active vision and inertial measurements

Bras

Cunha

Vasconcelos

et al. 2009

Proceedings of the 48h IEEE Conference on Decision and Control (CDC) Held Jointly With 2009 28th Chinese Control Conference

Self Cite

View full text Add to dashboard Cite

In this paper we consider the problem of estimating the attitude of a rigid body equipped with a triad of rate gyros and a pan and tilt camera. The nonlinear attitude observer integrates angular velocity measurements from rate gyros, with images of a planar scene provided by the camera. By exploiting directly sensor information, i) a stabilizing feedback law is introduced and exponential convergence to the origin of the estimation errors is shown; ii) an active vision system is proposed that relies on an image-based exponentially input-tostate stable (ISS) control law for the camera pan and tilt angular rates to keep the features in the image plane. The discrete time implementation of the observer makes use of recent results in geometric numeric integration to preserve the rotation matrix properties. Simulated and experimental results demonstrate the effectiveness and applicability of the proposed solution.

show abstract

Equivariant Systems Theory and Observer Design for Second Order Kinematic Systems on Matrix Lie Groups

Goor²,

Hamel³

et al. 2020

2020 59th IEEE Conference on Decision and Control (CDC)

View full text Add to dashboard Cite

This paper presents the equivariant systems theory and observer design for second order kinematic systems on matrix Lie groups. The state of a second order kinematic system on a matrix Lie group is naturally posed on the tangent bundle of the group with the inputs lying in the tangent of the tangent bundle known as the double tangent bundle. We provide a simple parameterization of both the tangent bundle state space and the input space (the fiber space of the double tangent bundle) and then introduce a semi-direct product group and group actions onto both the state and input spaces. We show that with the proposed group actions the second order kinematics are equivariant. An equivariant lift of the kinematics onto the symmetry group is defined and used to design a nonlinear observer on the lifted state space using nonlinear constructive design techniques. A simple hovercraft simulation verifies the performance of our observer.

show abstract

Pose observers for Unmanned Air Vehicles

Cited by 5 publications

References 25 publications

Riccati Observer Design for Pose, Linear Velocity and Gravity Direction Estimation Using Landmark Position and IMU Measurements

Riccati Observer Design for Pose, Linear Velocity and Gravity Direction Estimation Using Landmark Position and IMU Measurements

Nonlinear attitude estimation using active vision and inertial measurements

Equivariant Systems Theory and Observer Design for Second Order Kinematic Systems on Matrix Lie Groups

Contact Info

Product

Resources

About