We propose an observer for attitude and position estimation of a rigid body using translational and angular velocity measurements together with a single landmark. Under an observability condition depending on landmark position, global and asymptotic convergence of attitude and position estimation errors to zero is achieved. We extend the observer for the case of nonideal velocity measurements. Simulation examples demonstrate convergence properties of the observer in the face of noise and bias in velocity measurements.
Global attitude/position estimation using landmark and biased velocity measurements
IEEE Transactions on Aerospace and Electronic Systems ; 52 , 2 ; 852-862
2016-04-01
765076 byte
Article (Journal)
Electronic Resource
English
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