The paper addresses the simultaneous estimation of position, linear velocity, and orientation of a rigid body using a Riccati observer-based estimator. It discusses the challenges in accurate pose estimation for autonomous robotic platforms and the limitations of traditional INS systems. The proposed observer guarantees global exponential convergence under specific conditions on the vehicle's motion. Various algorithms integrating bearing measurements are explored, emphasizing the advantages of nonlinear deterministic observers over stochastic filters. The content delves into vision-aided INS, underwater applications, and reduced-order versions of the observer for attitude estimation. Detailed mathematical formulations, observability analysis, simulation results, and future work are presented.
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by Sifeddine Be... at arxiv.org 03-20-2024
https://arxiv.org/pdf/2403.12633.pdfDeeper Inquiries