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dc.contributor.authorBjørne, Elias
dc.contributor.authorBrekke, Edmund Førland
dc.contributor.authorBryne, Torleiv Håland
dc.contributor.authorJohansen, Tor Arne
dc.date.accessioned2021-02-09T14:04:40Z
dc.date.available2021-02-09T14:04:40Z
dc.date.created2020-12-21T12:52:28Z
dc.date.issued2020
dc.identifier.issn1063-6536
dc.identifier.urihttps://hdl.handle.net/11250/2726951
dc.description.abstractThis 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.isoengen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.titleSemiglobally Asymptotically Stable Nonlinear Observer for Camera Aided Navigationen_US
dc.typePeer revieweden_US
dc.typeJournal articleen_US
dc.description.versionacceptedVersionen_US
dc.source.journalIEEE Transactions on Control Systems Technologyen_US
dc.identifier.doi10.1109/TCST.2020.3029195
dc.identifier.cristin1862355
dc.relation.projectNorges forskningsråd: 223254en_US
dc.relation.projectNorges forskningsråd: 250725en_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
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