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A Nonlinear Navigation Observer Using IMU and Generic Position Information

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Document pages: 16 pages

Abstract: This paper deals with the problem of full state estimation for vehiclesnavigating in a three dimensional space. We assume that the vehicle is equippedwith an Inertial Measurement Unit (IMU) providing body-frame measurements ofthe angular velocity, the specific force, and the Earth s magnetic field.Moreover, we consider available sensors that provide partial or fullinformation about the position of the vehicle. Examples of such sensors arethose which provide full position measurements (e.g., GPS), range measurements(e.g., Ultra-Wide Band (UWB) sensors), inertial-frame bearing measurements(e.g., motion capture cameras), or altitude measurements (altimeter). Wepropose a generic semi-globally exponentially stable nonlinear observer thatestimates the position, linear velocity, linear acceleration, and attitude ofthe vehicle, as well as the gyro bias. We also provide a detailed observabilityanalysis for different types of measurements. Simulation and experimentalresults are provided to demonstrate the effectiveness of the proposedestimation scheme.

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