Concetti Chiave
Proposing a Riccati observer-based estimator for state estimation using IMU and single bearing measurements.
Sintesi
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.
Structure:
Introduction to State Estimation Challenges
Importance of Inertial Navigation Systems (INS)
Integration of Bearing Measurements in Estimation Algorithms
Proposed Riccati Observer-Based Estimator
Observability Analysis and Main Results
Simulation Results and Performance Evaluation
Conclusion and Future Directions
Statistiche
"Simulation results are presented to show the effectiveness of the proposed approach."
"The gravity vector gI is set to [0 0 9.81]⊤."
"The constant vector mI is set to [1/√2 0 1/√2]⊤."
Citazioni
"The proposed observer guarantees global exponential convergence under some persistency of excitation condition on the vehicle’s motion."
"Most ad-hoc methods assume RaB ≈ −gI to remove coupling between translational and rotational dynamics."
"The proposed observer provides an estimation of pB, vB, gB, and mB using available measurements."