构造性观测器设计用于视觉同时定位与建图

Equivariant Systems Theory and Observer Design

A wide range of system models in modern robotics and avionics applications admit natural symmetries. Such systems are termed equivariant and the structure provided by the symmetry is a powerful tool in the design of observers. Significant progress has been made in the last ten years in the design of filters and observers for attitude and pose estimation, tracking of homographies, and velocity aided attitude estimation, by exploiting their inherent Lie-group state-space structure. However, little work has been done for systems on homogeneous spaces, that is systems on manifolds on which a Lie-g…

A bundle framework for observer design on smooth manifolds with symmetry

The article presents a bundle framework for nonlinear observer design on a manifold with a Lie group action. The group action on the manifold decomposes the manifold to a quotient structure and an orbit space, and the problem of observer design for the entire system gets decomposed to a design over the orbit (the group space) and a design over the quotient space. The emphasis throughout the article is on presenting an overarching geometric structure; the special case when the group action is free is given special emphasis. Gradient based observer design on a Lie group is given explicit attenti…

Equivariant Systems Theory and Observer Design for Second Order Kinematic Systems on Matrix Lie Groups

This paper presents the equivariant systems theory and observer design for second order kinematic systems on matrix Lie groups. The state of a second order kinematic system on a matrix Lie group is naturally posed on the tangent bundle of the group with the inputs lying in the tangent of the tangent bundle known as the double tangent bundle. We provide a simple parameterization of both the tangent bundle state space and the input space (the fiber space of the double tangent bundle) and then introduce a semi-direct product group and group actions onto both the state and input spaces. We show th…

同步观测器设计用于地标-惯性SLAM的磁力计和间歇GNSS测量

Synchronous Observer Design for Landmark-Inertial SLAM with Magnetometer and Intermittent GNSS Measurements

本文提出一种非线性观测器，利用磁力计和间歇GNSS测量解决LI-SLAM中状态不可观测问题，通过仿真验证了观测器的稳定性。

关于基于参数估计的观测器在非线性系统中可解性的研究

On the solvability of parameter estimation-based observers for nonlinear systems

本文研究了基于参数估计的观测器在非线性系统中的可解性，分析了可转换性和可识别性这两个关键性质，并提供了充分条件以确保其存在性。

时滞系统中功能观测器的存在性与设计

Existence and Design of Functional Observers for Time-Delay Systems with Delayed Output Measurements

本文提出三种功能观测器结构，用于处理时滞系统中状态时滞与测量时滞不匹配的问题，通过代数条件和构造性方法实现不同阶次的观测器设计。

具有对称性的嵌入式非线性系统的全局最小能量状态估计

Global Minimum Energy State Estimation for Embedded Nonlinear Systems with Symmetry

针对非线性系统状态估计中局部最优与全局稳定难以兼顾的问题，提出利用嵌入坐标和最小能量范式的全局最优观测器，在单位四元数姿态估计中验证了其始终最优且大初始误差下仍可收敛的性能。