Electrical Engineering and Systems Science > Systems and Control
[Submitted on 19 Mar 2024]
Title:State Estimation Using Single Body-Frame Bearing Measurements
View PDF HTML (experimental)Abstract:This paper addresses the problem of simultaneous estimation of the position, linear velocity and orientation of a rigid body using single bearing measurements. We introduce a Riccati observer-based estimator that fuses measurements from a 3-axis accelerometer, a 3-axis gyroscope, a single body-frame vector observation (e.g., magnetometer), and a single bearing-to-landmark measurement to obtain the full vehicle's state (position, velocity, orientation). The proposed observer guarantees global exponential convergence under some persistency of excitation (PE) condition on the vehicle's motion. Simulation results are presented to show the effectiveness of the proposed approach.
Submission history
From: Sifeddine Benahmed [view email][v1] Tue, 19 Mar 2024 11:00:48 UTC (1,228 KB)
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