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Observer design for position and velocity bias estimation from a single direction output

Abstract : This paper addresses the problem of estimating the position of an object moving in R n from direction and velocity measurements. After addressing observability issues associated with this problem, a nonlinear observer is designed so as to encompass the case where the measured velocity is corrupted by a constant bias. Global exponential convergence of the estimation error is proved under a condition of persistent excitation upon the direction measurements. Simulation results illustrate the performance of the observer.
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https://hal.archives-ouvertes.fr/hal-01377787
Contributor : Claude Samson <>
Submitted on : Tuesday, October 11, 2016 - 3:15:51 PM
Last modification on : Tuesday, May 26, 2020 - 6:50:35 PM
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Florent Le Bras, Tarek Hamel, Robert Mahony, Claude Samson. Observer design for position and velocity bias estimation from a single direction output. CDC 2015 - 54th IEEE Conference on Decision and Control, Dec 2015, Osaka, Japan. pp.7648 - 7653, ⟨10.1109/CDC.2015.7403428⟩. ⟨hal-01377787⟩

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