arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 2602.09414eess.SYcs.ROcs.SY
收藏

基于点云和速度传感器的有限时间稳定姿态估计（TSE(3)）

Finite-time Stable Pose Estimation on TSE(3) using Point Cloud and Velocity Sensors

Department of Mechanical \& Aerospace Engineering, Syracuse University, Syracuse, NY 13244

Nazanin S. Hashkavaei, Abhijit Dongare, Neon Srinivasu, Amit K. Sanyal

备注：
17 pages, 8 figures, submitted to Automatica
阅读 PDF
arXiv 页面 ↗HTML 原文 ↗

AI总结：

本文提出一种基于点云和速度传感器的有限时间稳定姿态估计方法，通过几何力学框架实现鲁棒性，适用于自主车辆。

摘要：

本文提出了一种有限时间稳定的姿态估计器（FTS-PE），用于三维空间中经历旋转和平移运动的刚体。该估计器利用机载传感器提供的惯性固定点位置向量和身体速度进行测量。FTS-PE是一种全状态观测器，用于估计姿态（位置和方向）和速度，并通过李雅普诺夫分析证明其在有限时间内稳定且对有界测量噪声具有鲁棒性。此外，该观测器直接在状态空间上设计，即刚体运动李群SE(3)的切丛，而无需使用局部坐标或（双）四元数表示。因此，它可以估计任意刚体运动，而不会遇到奇异点或退卷现象，并可直接应用于自主车辆。还获得了一种不需要平移速度测量且仅使用点云和角速度测量（来自速率陀螺仪）的观测器版本。它通过几何力学框架进行离散化，用于数值和实验实现。数值模拟将FTS-PE与双四元数扩展卡尔曼滤波器和我们之前开发的变分姿态估计器（VPE）进行比较。实验结果使用从Zed 2i立体深度摄像头传感器获得的点云图像和速率陀螺测量数据获得。这些结果验证了FTS-PE的稳定性和鲁棒性。

英文摘要：

This work presents a finite-time stable pose estimator (FTS-PE) for rigid bodies undergoing rotational and translational motion in three dimensions, using measurements from onboard sensors that provide position vectors to inertially-fixed points and body velocities. The FTS-PE is a full-state observer for the pose (position and orientation) and velocities and is obtained through a Lyapunov analysis that shows its stability in finite time and its robustness to bounded measurement noise. Further, this observer is designed directly on the state space, the tangent bundle of the Lie group of rigid body motions, SE(3), without using local coordinates or (dual) quaternion representations. Therefore, it can estimate arbitrary rigid body motions without encountering singularities or the unwinding phenomenon and be readily applied to autonomous vehicles. A version of this observer that does not need translational velocity measurements and uses only point clouds and angular velocity measurements from rate gyros, is also obtained. It is discretized using the framework of geometric mechanics for numerical and experimental implementations. The numerical simulations compare the FTS-PE with a dual-quaternion extended Kalman filter and our previously developed variational pose estimator (VPE). The experimental results are obtained using point cloud images and rate gyro measurements obtained from a Zed 2i stereo depth camera sensor. These results validate the stability and robustness of the FTS-PE.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。

↑