Observer design for position and velocity bias estimation from a single direction output
Systems and Control
2015-03-27 v1
Abstract
This paper addresses the problem of estimating the position of an object moving in from direction and velocity measurements. After addressing observability issues associated with this problem, a nonlinear observer is designed so as to encompass the case where the measured velocity is corrupted by a constant bias. Global exponential convergence of the estimation error is proved under a condition of persistent excitation upon the direction measurements. Simulation results illustrate the performance of the observer.
Cite
@article{arxiv.1503.07680,
title = {Observer design for position and velocity bias estimation from a single direction output},
author = {Florent Le Bras and Tarek Hamel and Robert Mahony and Claude Samson},
journal= {arXiv preprint arXiv:1503.07680},
year = {2015}
}
Comments
6 pages, 6 figures