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Semiglobally Asymptotically Stable Nonlinear Observer for Camera Aided Navigation

Bjørne, Elias; Brekke, Edmund Førland; Bryne, Torleiv Håland; Johansen, Tor Arne
Peer reviewed, Journal article
Accepted version
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URI
https://hdl.handle.net/11250/2726951
Date
2020
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  • Institutt for teknisk kybernetikk [2251]
  • Publikasjoner fra CRIStin - NTNU [20948]
Original version
10.1109/TCST.2020.3029195
Abstract
This brief presents a nonlinear observer that performs range estimation as well as gyro-bias estimation by using velocity, angular rate, and bearing angle measurements from landmarks at unknown locations. The observer is proved to have semiglobal asymptotic stability, and its performance is verified in simulations and on experimental data. The observer is demonstrated on an unmanned aerial vehicle (UAV) with a sensor setup consisting of camera, inertial measurement unit (IMU), and velocity measured by a global navigation satellite system (GNSS). This sensor suite is sufficient to replace the magnetometer and the altimeter.
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Journal
IEEE Transactions on Control Systems Technology

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