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

Florent Le Bras, Tarek Hamel, Robert Mahony, Claude Samson

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    5 Citations (Scopus)

    Abstract

    This paper addresses the problem of estimating the position of an object moving in ℝn 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.

    Original languageEnglish
    Title of host publication54rd IEEE Conference on Decision and Control,CDC 2015
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages7648-7653
    Number of pages6
    ISBN (Electronic)9781479978861
    DOIs
    Publication statusPublished - 8 Feb 2015
    Event54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan
    Duration: 15 Dec 201518 Dec 2015

    Publication series

    NameProceedings of the IEEE Conference on Decision and Control
    Volume54rd IEEE Conference on Decision and Control,CDC 2015
    ISSN (Print)0743-1546
    ISSN (Electronic)2576-2370

    Conference

    Conference54th IEEE Conference on Decision and Control, CDC 2015
    Country/TerritoryJapan
    CityOsaka
    Period15/12/1518/12/15

    Fingerprint

    Dive into the research topics of 'Observer design for position and velocity bias estimation from a single direction output'. Together they form a unique fingerprint.

    Cite this