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Global estimation of rigid-body attitude/position using a single landmark and biased velocity measurements | IEEE Conference Publication | IEEE Xplore

Global estimation of rigid-body attitude/position using a single landmark and biased velocity measurements


Abstract:

In this paper we propose an observer for attitude and position estimation of a rigid body using data provided by rate gyros, Doppler sensors and a single landmark measure...Show More

Abstract:

In this paper we propose an observer for attitude and position estimation of a rigid body using data provided by rate gyros, Doppler sensors and a single landmark measurement. Under an observability condition which depends on landmark position, asymptotic convergence of the observer is proved. The initial attitude and position estimates can assume any values and hence the convergence is in global sense. We extend the observer for the case of non-ideal translational and angular velocity measurements. Simulation examples demonstrate position and attitude estimation in two cases: a single moving landmark, and three fixed landmarks.
Date of Conference: 15-17 December 2014
Date Added to IEEE Xplore: 12 February 2015
ISBN Information:
Print ISSN: 0191-2216
Conference Location: Los Angeles, CA, USA

References

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