Nonlinear Observers Design for Vision-Aided Inertial Navigation Systems

• 成果类型: Article
• 署名作者: Wang, Miaomiao; Berkane, Soulaimane; Tayebi, Abdelhamid
• 署名单位: Western University (University of Western Ontario); University of Quebec; University Quebec Outaouais; Lakehead University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3086459
• 发表日期: 2022
• 页码: 1853-1868
• 关键词: Bearing measurements; nonlinear observer; vision-aided inertial navigation system (vision-aided INS); uniform observability

摘要

This article deals with the simultaneous estimation of the attitude, position, and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on SO(3) x R-15 relying on body-frame acceleration, angular velocity, and (stereo or monocular) bearing measurements of some landmarks that are constant and known in the inertial frame. Unlike the existing local Kalman-type observers, our proposed nonlinear observer guarantees almost global asymptotic stability and local exponential stability. A detailed uniform observability analysis has been conducted and sufficient conditions are derived. Moreover, a hybrid version of the proposed observer is provided to handle the intermittent nature of the measurements in practical applications. Simulation and experimental results are provided to illustrate the effectiveness of the proposed state observer.