UWBとIMUのセンサフュージョンによる慣性航法のための非線形決定論的オブザーバ
Nonlinear Deterministic Observer for Inertial Navigation using Ultra-wideband and IMU Sensor Fusion
GPSが使えない環境でUWBとIMUを融合し、剛体の姿勢・位置・速度を推定する非線形決定論的オブザーバを提案し、ドローンの実データで検証した。
著者: Hashim A. Hashim, Abdelrahman E. E. Eltoukhy, Kyriakos G. Vamvoudakis, Mohammed I. Abouheaf
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
Navigation in Global Positioning Systems (GPS)-denied environments requires robust estimators reliant on fusion of inertial sensors able to estimate rigid-body's orientation, position, and linear velocity. Ultra-wideband (UWB) and Inertial Measurement Unit (IMU) represent low-cost measurement technology that can be utilized for successful Inertial Navigation. This paper presents a nonlinear deterministic navigation observer in a continuous form that directly employs UWB and IMU measurements. The estimator is developed on the extended Special Euclidean Group $\mathbb{SE}_{2}\left(3\right)$ and ensures exponential convergence of the closed loop error signals starting from almost any initial condition. The discrete version of the proposed observer is tested using a publicly available real-world dataset of a drone flight. Keywords: Ultra-wideband, Inertial measurement unit, Sensor Fusion, Positioning system, GPS-denied navigation.
