Semiglobally Asymptotically Stable Nonlinear Observer for Camera Aided Navigation

被引：3

作者：

Bjorne, Elias ^{[1
]}

Brekke, Edmund Forland ^{[1
]}

Bryne, Torleiv Haland ^{[1
]}

Johansen, Tor Arne ^{[1
]}

机构：

[1] Norwegian Univ Sci & Technol NTNU, Ctr Autonomous Marine Operat & Syst, Dept Engn Cybernet, N-7491 Trondheim, Norway

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2021年 / 29卷 / 05期

关键词：

Observers; Global navigation satellite system; Unmanned aerial vehicles; IEEE Sections; Cameras; Velocity measurement; Attitude observer; localization; navigation; nonlinear observer; sensor data fusion; ATTITUDE ESTIMATION; STABILITY; SYSTEMS; FILTER;

D O I：

10.1109/TCST.2020.3029195

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This brief presents a nonlinear observer that performs range estimation as well as gyro-bias estimation by using velocity, angular rate, and bearing angle measurements from landmarks at unknown locations. The observer is proved to have semiglobal asymptotic stability, and its performance is verified in simulations and on experimental data. The observer is demonstrated on an unmanned aerial vehicle (UAV) with a sensor setup consisting of camera, inertial measurement unit (IMU), and velocity measured by a global navigation satellite system (GNSS). This sensor suite is sufficient to replace the magnetometer and the altimeter.

引用

页码：2279 / 2286

页数：8

共 31 条

[21] An algorithm for terrain-aided inertial navigation based on nonlinear optimal filtering
ZHAO Long Science and Technology on Aircraft Control Laboratory
ScienceChina(Physics,Mechanics&Astronomy), 2011, (06) : 1083 - 1088
[22] An algorithm for terrain-aided inertial navigation based on nonlinear optimal filtering
Zhao Long
SCIENCE CHINA-PHYSICS MECHANICS & ASTRONOMY, 2011, 54 (06) : 1083 - 1088
[23] Nonlinear Fisher Particle Output Feedback Control and its application to Terrain Aided Navigation
Flayac, Emilien
Dahia, Karim
Herisse, Bruno
Jean, Frederic
2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), 2017,
[24] Nonlinear Deterministic Observer for Inertial Navigation using Ultra-wideband and IMU Sensor Fusion
Hashim, Hashim A.
Eltoukhy, Abdelrahman E. E.
Vamvoudakis, Kyriakos G.
Abouheaf, Mohammed I.
2023 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, IROS, 2023, : 3085 - 3090
[25] Adaptive Mid-Stance Phase Observer-Aided Pedestrian Inertial Navigation System for Varying Gait Speeds
Meng, Zhidong
Deng, Zhihong
Zhang, Ping
Li, Zhe
IEEE INTERNET OF THINGS JOURNAL, 2024, 11 (12): : 21904 - 21915
[26] Nonlinear Observer-Based Sliding Mode Control for Robot-Aided Bilateral Human-Compliant Rehabilitation Training of Upper Limb
Li, Jianfeng
Liu, Wenjie
Li, Haozhe
Jiao, Ran
Dong, Mingjie
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2024,
[27] Real-time Implementation of a Vision-aided Integrated Navigation System with a Tiny Vision Processing Camera Module
Yun, Sukchang
Lee, Seung Jun
Lee, Byoung-Jin
Lee, Young Jae
Sung, Sangkyung
2011 11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS), 2011, : 1433 - 1436
[28] Observer-based controller for VTOL-UAVs tracking using direct Vision-Aided Inertial Navigation measurements
Hashim, Hashim A.
Eltoukhy, Abdelrahman E. E.
Odry, Akos
ISA TRANSACTIONS, 2023, 137 : 133 - 143
[29] A Globally Asymptotically Stable Nonlinear PID Regulator with Fuzzy Self-tuned PD Gains, for Robot Manipulators
Sifuentes-Mijares, Juan
Santibanez, Victor
Meza Medina, Jose Luis
2014 WORLD AUTOMATION CONGRESS (WAC): EMERGING TECHNOLOGIES FOR A NEW PARADIGM IN SYSTEM OF SYSTEMS ENGINEERING, 2014,
[30] Nonlinear Unknown Input Observer Based on Singular Value Decomposition Aided Reduced Dimension Cubature Kalman Filter
Zhao, Wei
Li, Huiguang
Zou, Liying
Huang, Wenjuan
MATHEMATICAL PROBLEMS IN ENGINEERING, 2017, 2017 : 1 - 13

← 1 2 3 4 →