Browsing NTNU Open by Author "Fusini, Lorenzo"
Now showing items 1-5 of 5
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A Uniformly Semiglobally Exponentially Stable Nonlinear Observer for GNSS- and Camera-Aided Inertial Navigation
Fusini, Lorenzo; Fossen, Thor I.; Johansen, Tor Arne (Journal article, 2014)In this paper a nonlinear observer for estimation of position, velocity, acceleration, attitude and gyro bias of an Unmanned Aerial Vehicle (UAV) is proposed. The sensor suite consists of an Inertial Measurement Unit (IMU), ... -
Camera-aided Inertial Navigation for Unmanned Aerial Vehicles using Non-linear Observers
Fusini, Lorenzo (Doctoral theses at NTNU;2017:225, Doctoral thesis, 2017)The objective of this thesis is to investigate solutions for a robust autonomous navigation system for a fixed-wing UAV. Robustness requires the ability to detect faults in the system and to compensate for the consequent ... -
Dead Reckoning of a Fixed-Wing UAV with Inertial Navigation Aided by Optical Flow
Fusini, Lorenzo; Johansen, Tor Arne; Fossen, Thor I. (Chapter; Peer reviewed, 2017)This paper provides experimental results for dead reckoning of a fixed-wing UAV using a nonlinear observer (NLO) and a more recent tool called eXogenous Kalman Filter (XKF), which uses the NLO itself as a first-stage filter. ... -
Non-linear Observers for GNSS- and Camera-Aided Inertial Navigation of a Fixed-Wing UAV
Fusini, Lorenzo; Fossen, Thor I.; Johansen, Tor Arne (Journal article; Peer reviewed, 2017)In this paper, exponentially stable nonlinear observers for the estimation of position, velocity, specific force, attitude, and gyro bias of a fixed-wing unmanned aerial vehicle (UAV) are proposed. The sensor suite consists ... -
Nonlinear Camera- and GNSS-aided INS for Fixed-Wing UAV using the eXogenous Kalman Filter
Fusini, Lorenzo; Fossen, Thor I.; Johansen, Tor Arne (Chapter, 2017)This chapter aims at applying a recently proposed estimator, called eXogenous Kalman Filter (XKF), to the navigation of a fixed-wing unmanned aerial vehicle (UAV) using inertial sensors, GNSS, and optical flow calculated ...