Related papers: Hybrid Nonlinear Observers for Inertial Navigation…
This paper addresses the leader-following attitude consensus problem for a group of spacecraft when at least one follower can access the leader's attitude and velocity relative to the inertial space. A nonlinear distributed observer is…
Feature-based homography estimation approaches rely on extensive image processing for feature extraction and matching, and do not adequately account for the information provided by the image. Therefore, developing efficient direct…
A discussion of the robustness properties of the proposed observer with respect to measurement errors is provided for the recently proposed full-order and reduced-order, hybrid, dead-beat observer for a class of nonlinear systems, linear in…
Vision based localization is a popular approach to carry out manoeuvres particularly in GPS-restricted indoor environments, because vision can complement other activities performed by the robot. The objective is to estimate the current…
In this paper, we propose a suboptimal moving horizon estimator for nonlinear systems. For the stability analysis we transfer the "feasibility-implies-stability/robustness" paradigm from model predictive control to the context of moving…
Attitude estimation methods typically rely on full vector measurements from inertial sensors such as accelerometers and magnetometers. This paper shows that reliable estimation can also be achieved using only scalar measurements, which…
This paper utilizes the recently proposed cubic observer to estimate the state of a class of nonlinear systems. The cubic observer is proposed as an alternative to linear observers for improved convergence rate and robustness. It is shown…
We propose an attitude and gyro-bias estimation scheme for accelerated rigid body systems using an inertial measurement unit (IMU) and a global positioning system (GPS). The proposed scheme allows to obtain attitude estimates directly on…
Unmanned vehicle navigation concerns estimating attitude, position, and linear velocity of the vehicle the six degrees of freedom (6 DoF). It has been known that the true navigation dynamics are highly nonlinear modeled on the Lie Group of…
In various applications of land vehicle navigation and automatic guidance systems, Global Navigation Satellite System/Inertial Measurement Unit (GNSS/IMU) positioning performance crucially depends on the attitude determination accuracy…
This manuscript focuses on the $\mathcal{H}_\infty$ observer design for a class of nonlinear discrete systems under the presence of measurement noise or external disturbances. Two new Linear Matrix Inequality (LMI) conditions are developed…
We propose a 12-dimensional, global, continuous, and exponentially convergent observer for gyro bias and attitude of a rigid body. Any attitude observer developed on the special orthogonal group suffers from the topological restriction that…
This work proposes a detectability condition for linear time-varying systems based on the exponential dichotomy spectrum. The condition guarantees the existence of an observer, whose gain is determined only by the unstable modes of the…
Many navigation problems can be formulated as observer design on linear observed systems with a two-frame group structure, on which an invariant filter can be implemented with guaranteed consistency and stability. It's still unclear how…
This paper examines the local exponential stability (LES) of trajectories for nonlinear systems on Riemannian manifolds. We present necessary and sufficient conditions for LES of a trajectory on a Riemannian manifold by analyzing the…
In this paper we propose a new observer design technique for nonlinear systems. It combines the well-known Kazantzis-Kravaris-Luenberger observer and the recently introduced parameter estimation-based observer, which become special cases of…
Alignment of the strapdown inertial navigation system (INS) has strong nonlinearity, even worse when maneuvers, e.g., tumbling techniques, are employed to improve the alignment. There is no general rule to attack the observability of a…
Relying on recent research results on Neural ODEs, this paper presents a methodology for the design of state observers for nonlinear systems based on Neural ODEs, learning Luenberger-like observers and their nonlinear extension…
Attitude estimation using scalar measurements, corresponding to partial vectorial observations, arises naturally when inertial vectors are not fully observed but only measured along specific body-frame vectors. Such measurements arise in…
We study state estimation for nonlinear differential-algebraic systems, where the nonlinearity satisfies a Lipschitz condition or a generalized monotonicity condition or a combination of these. The presented observer design unifies earlier…