On the Design of Hybrid Pose and Velocity-bias Observers on Lie Group SE(3)
It provides a theoretically guaranteed observer for pose and bias estimation in robotics, with decoupled dynamics beneficial for noisy measurements.
This paper designs globally exponentially stable invariant observers on SE(3) for pose and velocity-bias estimation, achieving decoupled rotational error dynamics from translational dynamics.
This paper deals with the design of globally exponentially stable invariant observers on the Special Euclidian group SE(3). First, we propose a generic hybrid observer scheme (depending on a generic potential function) evolving on $SE(3)\times \mathbb{R}^6$ for pose (orientation and position) and velocity-bias estimation. Thereafter, the proposed observer is formulated explicitly in terms of inertial vectors and landmark measurements. Interestingly, the proposed observer leads to a decoupled rotational error dynamics from the translational dynamics, which is an interesting feature in practical applications with noisy measurements and disturbances.