论文标题
使用IMU和通用位置信息的非线性导航观察者
A Nonlinear Navigation Observer Using IMU and Generic Position Information
论文作者
论文摘要
本文讨论了在三维空间中导航的车辆的全州估算问题。我们假设该车辆配备了惯性测量单元（IMU），可提供角速度，特定力和地球磁场的身体框架测量。此外，我们考虑提供有关车辆位置的部分或完整信息的可用传感器。此类传感器的示例是提供完整位置测量值（例如GPS），范围测量（例如，超宽频带（UWB）传感器），惯性框架轴承测量（例如运动捕获摄像机）或高度测量（高度测量值（高度计））的示例。我们提出了一个通用的半全球呈指数稳定的非线性观察者，该观察者估计了车辆的位置，线性速度，线性加速度和态度以及陀螺仪偏置。我们还为不同类型的测量结果提供了详细的可观察性分析。提供了模拟和实验结果，以证明提出的估计方案的有效性。
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 Unit (IMU) providing body-frame measurements of the angular velocity, the specific force, and the Earth's magnetic field. Moreover, we consider available sensors that provide partial or full information about the position of the vehicle. Examples of such sensors are those 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). We propose a generic semi-globally exponentially stable nonlinear observer that estimates the position, linear velocity, linear acceleration, and attitude of the vehicle, as well as the gyro bias. We also provide a detailed observability analysis for different types of measurements. Simulation and experimental results are provided to demonstrate the effectiveness of the proposed estimation scheme.
