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A predictor-based attitude and position estimation for rigid bodies moving in planar space by using delayed landmark measurements

Published online by Cambridge University Press:  18 April 2016

Danial Senejohnny  and
Mehrzad Namvar
Danial Senejohnny
Affiliation:
Department of Electrical Engineering, Sharif University of Technology, P.O. Box 11155-8639, Tehran, Iran. E-mail: d.senejohnny@gmail.com
Mehrzad Namvar*
Affiliation:
Department of Electrical Engineering, Sharif University of Technology, P.O. Box 11155-8639, Tehran, Iran. E-mail: d.senejohnny@gmail.com
*
*Corresponding author. E-mail: namvar@sharif.ir
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Summary

This paper proposes a globally and exponentially convergent predictive observer for attitude and position estimation based on landmark measurements and velocity (angular and linear) readings. It is assumed that landmark measurements are available with time-delay. The maximum value of the sensor delay under which the estimation error converges to zero is calculated. Synthesis of the observer is based on a representation of rigid-body kinematics and sensor delay, formulated via ordinary and partial differential equations (ODE-PDE). Observability condition specifies necessary and sufficient landmark configuration for convergence of attitude and position estimation error to zero. Finally, for implementation purposes, a PDE-free realization of the predictive observer is proposed. Simulation results are presented to demonstrate performance and convergence properties of the predictive observer in case of a wheeled mobile robot.

Keywords

Attitude estimationTime delayLandmarkSatellitePredictor observer
Type
Articles
Information
Robotica , Volume 35 , Issue 6 , June 2017 , pp. 1415 - 1430
Copyright
Copyright © Cambridge University Press 2016 

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