Hybrid Nonlinear Observers for Inertial Navigation Using Landmark Measurements
This work addresses inertial navigation challenges for rigid body systems, such as robotics or aerospace vehicles, by providing globally stable estimation methods, though it appears incremental as it builds on existing observer frameworks.
The paper tackles the problem of estimating attitude, position, and linear velocity for rigid body systems using landmark measurements, proposing two hybrid nonlinear observers on the matrix Lie group SE_2(3) that achieve global exponential stability and are extended to handle biased angular velocity measurements, with simulation and experimental results demonstrating their performance.
This paper considers the problem of attitude, position and linear velocity estimation for rigid body systems relying on landmark measurements. We propose two hybrid nonlinear observers on the matrix Lie group $SE_2(3)$, leading to global exponential stability. The first observer relies on fixed gains, while the second one uses variable gains depending on the solution of a continuous Riccati equation (CRE). These observers are then extended to handle biased angular velocity measurements. Both simulation and experimental results are presented to illustrate the performance of the proposed observers.