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

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