Nonlinear Filter Design for Pose and IMU Bias Estimation

摘要：

This paper concerns the problem of position and attitude estimation based on the fusion of complementary sensors. Nonlinear observers are proposed in order to obtain high-quality and high-rate estimates from raw position/attitude data, and measurements obtained from an inertial measurement unit. Estimates are improved through the online identification of diverse measurement biases, and a novel method for concurrent position estimation and accelerometer bias estimation is presented. Almost global asymptotic convergence of the pose observer is proved based on a Lyapunov-like approach, and several implementation issues are addressed. Comparison with classical existing methods illustrate the relevance of the proposed approach.

关键词： Inertial Estimation Nonlinear Observers Lyapunov Function

作者: Glauco Garcia Scandaroli Pascal Morin

作者单位: INRIA Sophia Antipolis-Méditerranée 2004 route des Lucioles,Sophia Antipolis 06902,France

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 4524-4530

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）