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arXiv · 1503.07680

Observer design for position and velocity bias estimation from a single direction output

Florent Le Bras·Tarek Hamel·Robert Mahony·Claude Samson
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Abstract

This paper addresses the problem of estimating the position of an object moving in $R^n$ from direction and velocity measurements. After addressing observability issues associated with this problem, a nonlinear observer is designed so as to encompass the case where the measured velocity is corrupted by a constant bias. Global exponential convergence of the estimation error is proved under a condition of persistent excitation upon the direction measurements. Simulation results illustrate the performance of the observer.

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Florent Le Bras, Tarek Hamel, Robert Mahony, Claude Samson. 2015-03-26. Observer design for position and velocity bias estimation from a single direction output. https://arxiv.org/abs/1503.07680

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