2021/04/20 by Hashim A. Hashim, Hashim, Hashim A · 4 citations
Earth and Planetary Sciences · Engineering · Social Sciences · #FOS: Electrical engineering #Geophysics and Gravity Measurements #Historical Geography and Cartography #Inertial Sensor and Navigation #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2104.09920
openalex publication_date 2021/04/20 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Successful navigation of a rigid-body traveling with six degrees of freedom\n(6 DoF) requires accurate estimation of attitude , position, and linear\nvelocity. The true navigation dynamics are highly nonlinear and are modeled on\nthe matrix Lie group of SE2(3). This paper presents novel geometric nonlinear\ncontinuous stochastic navigation observers on SE2(3) capturing the true\nnonlinearity of the problem. The proposed observers combines IMU and landmark\nmeasurements. It efficiently handles the IMU measurement noise. The proposed\nobservers are guaranteed to be almost semi-globally uniformly ultimately\nbounded in the mean square. Quaternion representation is provided. A real-world\nquadrotor measurement dataset is used to validate the effectiveness of the\nproposed observers in its discrete form. Keywords: Inertial navigation,\nstochastic system, Brownian motion process, stochastic filter algorithm,\nstochastic differential equation, Lie group, SE(3), SO(3), pose estimator,\nposition, attitude, feature measurement, inertial measurement unit, IMU.\n