dc.contributor.author | Bjørne, Elias | |
dc.contributor.author | Brekke, Edmund Førland | |
dc.contributor.author | Bryne, Torleiv Håland | |
dc.contributor.author | Johansen, Tor Arne | |
dc.date.accessioned | 2021-02-09T14:04:40Z | |
dc.date.available | 2021-02-09T14:04:40Z | |
dc.date.created | 2020-12-21T12:52:28Z | |
dc.date.issued | 2020 | |
dc.identifier.issn | 1063-6536 | |
dc.identifier.uri | https://hdl.handle.net/11250/2726951 | |
dc.description.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. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) | en_US |
dc.title | Semiglobally Asymptotically Stable Nonlinear Observer for Camera Aided Navigation | en_US |
dc.type | Peer reviewed | en_US |
dc.type | Journal article | en_US |
dc.description.version | acceptedVersion | en_US |
dc.source.journal | IEEE Transactions on Control Systems Technology | en_US |
dc.identifier.doi | 10.1109/TCST.2020.3029195 | |
dc.identifier.cristin | 1862355 | |
dc.relation.project | Norges forskningsråd: 223254 | en_US |
dc.relation.project | Norges forskningsråd: 250725 | en_US |
dc.description.localcode | © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | en_US |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 2 | |