Rigid Body Asymptotic Attitude & Position Estimation Using Time Delayed Landmark Measurement

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Mohammadi Senejohnny, Danial | 2014

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 45974 (05)
University: Sharif University of Technology
Department: Electical Engineering
Advisor(s): Namvar, Mehrzad
Abstract:
This paper proposes a globally and exponentially convergent predictor 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 representation of the rigid-body kinematics and the sensor delay by a combination of ordinary and partial differential equations (ODE-PDE). An 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 predictor observer is proposed. Simulation results are presented to demonstrate performance and convergence properties of the predictor observer in case of a wheeled mobile robot
Keywords:
Globally Asymptotic Stability ; Attitude Estimation ; Wheeled Mobile Robot ; Predictor Observer ; Position Estimation

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