Semiglobally Asymptotically Stable Nonlinear Observer for Camera Aided Navigation

Bjørne, Elias; Brekke, Edmund; Bryne, Torleiv H.; Johansen, Tor Arne

doi:10.1109/tcst.2020.3029195

Cited by 4 publications

(5 citation statements)

References 27 publications

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“…Hence, by taking into consideration the properties of the gyro bias quaternion vector (11), we can express the variation law of the estimation error of gyro bias quaternion vector…”

Section: B Nrbo For Estimating Attitude and Gyro Biasmentioning

confidence: 99%

“…Reis et al [10] designed a nonlinear observer to obtain simultaneous estimation of the attitude, Earth's spin vector, and sensor biases via the Lagrangian method. Bjørne et al [11] proposed a semiglobally stable nonlinear observer that implemented gyro bias and attitude estimation with visual orientation and velocity measurements. Tong et al [12] proposed a quaternion-based hybrid observer scheme to expand the stability domain and accelerate the convergence of the observer.…”

Section: Introductionmentioning

confidence: 99%

“…Considering the difficulty to derive the dynamic nonlinear model and measurement noise characteristics of MEMS gyro biases in practical applications, we propose a nonlinear robust bias observer (NRBO) for MEMS gyros using noninertial attitude measurements, inspired by the synergetic control theory [17]. The noninertial attitude measurements can be generated from visual navigation systems [11], magnetic, angular rate, and gravity sensors [5], or GPS [18]. The NRBO consists of two parts: gyro bias estimation and attitude estimation.…”

Section: Introductionmentioning

confidence: 99%

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Nonlinear Robust Bias Observer for MEMS Gyros Using Noninertial Attitude Sensor Measurement

Tang,

Chang,

Wang

et al. 2024

IEEE/ASME Trans. Mechatron.

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In robotic applications, the dynamics sensitivities of commercial-grade micro-electro-mechanical system (MEMS) gyros often exhibit uncertainties that cannot be accurately modeled by linear drift. To address the estimation of these uncertain biases, we propose a novel nonlinear robust bias observer (NRBO) in this article. Unlike existing nonlinear observers for attitude and gyro bias, our proposed method incorporates a dynamics-sensitive gyro bias estimation approach, achieved through the synthesis of the attitude-angular rate nonlinear dynamic coupling (AARNDC) term and the attitude-linear coupling (ALC) term. We highlight the potential advantages of our proposed method, including the asymptotic stability of the NRBO and its robustness against MEMS gyro bias instability, enabled by a rational design of the AARNDC and ALC terms. In addition to gyro bias estimation, we present the attitude estimation within the NRBO framework. Field experimental results, conducted with a cable-driven parallel robot, demonstrate the robustness of the proposed NRBO against bias instability measurement noise. Moreover, the results Manuscript

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“…Hence, by taking into consideration the properties of the gyro bias quaternion vector (11), we can express the variation law of the estimation error of gyro bias quaternion vector…”

Section: B Nrbo For Estimating Attitude and Gyro Biasmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Nonlinear Robust Bias Observer for MEMS Gyros Using Noninertial Attitude Sensor Measurement

Tang,

Chang,

Wang

et al. 2024

IEEE/ASME Trans. Mechatron.

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“…Cabecinhas et al constructed a nonlinear attitude observer to estimate the MEMS gyro biases utilizing visual attitude information [18]. Bj Ã¸rne et al proposed a semi-globally stable nonlinear observer that implemented gyro bias and attitude estimation with visual orientation and velocity measurements [19]. Mahony et al designed a nonlinear complementary filter on the special orthogonal group SO(3) to estimate attitude and MEMS gyro biases, by exploiting measurements from magnetic compass and tri-axial accelerometer.…”

Section: Introductionmentioning

confidence: 99%

“…Considering the difficulty to derive the dynamic nonlinear model and measurement noise characteristics of MEMS gyro biases in practical applications, we propose a Nonlinear Robust Bias Observer (NBRO) for MEMS gyros using non-inertial attitude measurements in this paper, drawing on the ideas of synergetic control theory [26]. The non-inertial attitude measurements can be generated from visual navigation systems [19], MARG [8], or integrated navigation systems [12]. The NBRO consists of two parts: gyro bias estimation and attitude estimation with bias correction.…”

Section: Introductionmentioning

confidence: 99%

A Global Asymptotically Stable Nonlinear Robust Bias Observer for MEMS Gyros

Chang¹,

Wang²,

Li³

et al. 2022

Preprint

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<p> In practical applications, commercial-grade Micro-Electro-Mechanical System (MEMS) gyros tend to exhibit dynamics sensitivities which are resistant to modeling by linear drift. To address the problem, a new nonlinear robust bias observer (NRBO) is proposed in this paper. Unlike the existing attitude and gyro bias nonlinear observers, we propose a dynamics-sensitive gyro bias decomposition method to tackle unknown nonlinear dynamic models of MEMS gyro bias. We expose the potential advantages of the proposed method: the global asymptotic stability of the NBRO and the robustness to the bias instability of MEMS gyros can be guaranteed through a rational design of the attitude-angular rate nonlinear dynamic coupling (AARNDC) term and the attitude-linear coupling (ALC) term. In addition, the attitude estimation with bias correction is given in the framework of NBRO. The experiment of a cable-parallel robot demonstrate the robustness to the bias instability and the accuracy improvement of MEMS gyros. <br> </p>

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