Geometric stochastic filter with guaranteed performance for autonomous navigation based on IMU and feature sensor fusion
This paper concerns the estimation problem of attitude, position, and linear velocity of a rigid-
body autonomously navigating with six degrees of freedom (6 DoF). The navigation …
body autonomously navigating with six degrees of freedom (6 DoF). The navigation …
Globally exponentially stable attitude and gyro bias estimation with application to GNSS/INS integration
This paper deals with the construction of nonlinear observers for navigation purposes. We
first present a globally exponentially stable observer for attitude and gyro bias, based on …
first present a globally exponentially stable observer for attitude and gyro bias, based on …
On the usage of low-cost mems sensors, strapdown inertial navigation, and nonlinear estimation techniques in dynamic positioning
In this article, we suggest that a strapdown inertial navigation system based on
microelectromechanical system (MEMS) inertial sensors is a useful addition to a vessel with …
microelectromechanical system (MEMS) inertial sensors is a useful addition to a vessel with …
Hybrid Attitude and Gyro-Bias Observer Design on
S Berkane, A Abdessameud… - IEEE Transactions on …, 2017 - ieeexplore.ieee.org
This paper presents an approach for the design of globally exponentially stable hybrid
attitude and gyro-bias observers on SO (3)× R 3. First, we propose a hybrid observer …
attitude and gyro-bias observers on SO (3)× R 3. First, we propose a hybrid observer …
Redundant MEMS-based inertial navigation using nonlinear observers
We present two alternative methods for fault detection and isolation (FDI) with redundant
Microelectromechanical system (MEMS) inertial measurement units (IMUs) in inertial …
Microelectromechanical system (MEMS) inertial measurement units (IMUs) in inertial …
Riccati observer design for pose, linear velocity and gravity direction estimation using landmark position and IMU measurements
MD Hua, G Allibert - 2018 IEEE Conference on Control …, 2018 - ieeexplore.ieee.org
This paper revisits the problem of estimating the pose (ie position and attitude) of a robotic
vehicle by combining landmark position measurements provided by a stereo camera with …
vehicle by combining landmark position measurements provided by a stereo camera with …
A nonlinear navigation observer using IMU and generic position information
This paper deals with the problem of full state estimation for vehicles navigating in a three
dimensional space. We assume that the vehicle is equipped with an Inertial Measurement …
dimensional space. We assume that the vehicle is equipped with an Inertial Measurement …
On the Design of Attitude Complementary Filters on
This paper deals with the design, performance, and robustness analysis of nonlinear attitude
complementary filters on SO (3). We derive explicit time solutions of the attitude estimation …
complementary filters on SO (3). We derive explicit time solutions of the attitude estimation …
Design and implementation of an adaptive unscented Kalman filter with interval Type-3 fuzzy set for an attitude and heading reference system considering gyroscope …
Low-cost microelectromechanical sensors used in attitude and heading reference systems
(AHRS) suffer from unstable on–off biases, scaling errors, and nonlinearities that lead to an …
(AHRS) suffer from unstable on–off biases, scaling errors, and nonlinearities that lead to an …
Tightly coupled long baseline/ultra-short baseline integrated navigation system
This paper proposes a novel integrated navigation filter based on a combined long
baseline/ultra short baseline acoustic positioning system with application to underwater …
baseline/ultra short baseline acoustic positioning system with application to underwater …