@inproceedings{8cc5df8c51324242a0553e59d7f5d5cc,
title = "Observer design for position and velocity bias estimation from a single direction output",
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.",
keywords = "Cameras, Convergence, Estimation error, Observability, Observers, Velocity measurement",
author = "{Le Bras}, Florent and Tarek Hamel and Robert Mahony and Claude Samson",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 54th IEEE Conference on Decision and Control, CDC 2015 ; Conference date: 15-12-2015 Through 18-12-2015",
year = "2015",
month = feb,
day = "8",
doi = "10.1109/CDC.2015.7403428",
language = "English",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "7648--7653",
booktitle = "54rd IEEE Conference on Decision and Control,CDC 2015",
address = "United States",
}