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arXiv · 1308.0517

Further results on the observability analysis and observer design for single range localization in 3D

Giovanni Indiveri·Gianfranco Parlangeli
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Abstract

The issue of single range based observability analysis and observer design for the kinematics model of a 3D vehicle subject to a constant unknown drift velocity is addressed. The proposed method departs from alternative solutions to the problem and leads to the definition of a linear time invariant state equation with a linear time varying output that can be used to globally solve the original nonlinear state estimation problem with a standard Kalman filter. Simple necessary and sufficient observability conditions are derived. Numerical simulation examples are described to illustrate the performance of the method.

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Giovanni Indiveri, Gianfranco Parlangeli. 2014-09-01. Further results on the observability analysis and observer design for single range localization in 3D. https://arxiv.org/abs/1308.0517

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