GPS-denied Navigation: Attitude, Position, Linear Velocity, and Gravity Estimation with Nonlinear Stochastic Observer
- Resource Type
- Conference
- Authors
- Hashim, Hashim A.
- Source
- 2021 American Control Conference (ACC) American Control Conference (ACC), 2021. :1149-1154 May, 2021
- Subject
- Aerospace
Bioengineering
Components, Circuits, Devices and Systems
Computing and Processing
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Navigation
Quaternions
Stochastic processes
Estimation
Observers
Robustness
Noise measurement
- Language
- ISSN
- 2378-5861
Successful navigation of a rigid-body traveling with six degrees of freedom (6 DoF) requires accurate estimation of attitude, position, and linear velocity. The true navigation dynamics are highly nonlinear and are modeled on the matrix Lie group of SE 2 (3). This paper presents novel geometric nonlinear continuous stochastic navigation observers on SE 2 (3) capturing the true nonlinearity of the problem. The proposed observers combines IMU and landmark measurements. It efficiently handles the IMU measurement noise. The proposed observers are guaranteed to be almost semi-globally uniformly ultimately bounded in the mean square. Quaternion representation is provided. A real-world quadrotor measurement dataset is used to validate the effectiveness of the proposed observers in its discrete form.